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For Indigo, you need to modify the following file or related file /opt/ros/indigo/share/turtlebot_description/urdf/turtlebot_properties.urdf.xacro
You can find the following lines in the file: <property name="cam_px" value="-0.087"/> <property name="cam_py" value="-0.0125"/> <property name="cam_pz" value="0.2870"/> <property name="cam_or" value="0"/> <property name="cam_op" value="0"/> <property name="cam_oy" value="0"/>
If you want use a different sensor like asus_xtion_pro, you may directly modify the following file: /opt/ros/indigo/share/turtlebot_description/urdf/sensors/asus_xtion_pro.urdf.xacro
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