> For the complete documentation index, see [llms.txt](https://campus-rover.gitbook.io/lab-notebook/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://campus-rover.gitbook.io/lab-notebook/fiiva/camera_pitch.md).

# camera\_pitch.md

## Jacqueline Zhou

## Summary

This is a quick tip on how to change turtlebot3\_waffle's camera pitch, so that the camera (in simulation) can look down or up

## Make change in urdf

Find this section of "Vision Camera" in turtlebot's urdf:

```xml
<joint name="camera_joint" type="fixed">
      <origin xyz="0 0 ${1+base_height}" rpy="0 ${-cam_pitch} 0" />
      <parent link="base_link"/>
      <child link="camera_link" />
    </joint>
```

And you can modify ${-cam\_pitch} to any angle you want.


---

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