I'm sorry for the late reply due to Thanksgiving holiday.
The Waffle Pi URDF is defined in the turtlebot3_waffle_pi.urdf.xacro file, and the camera section starts from below
If you want to modify the RPI camera position, you can adjust the origin xyz(position) and rpy(rotation) values properly.
The unit of position is in meter(m) and rotation is in radian.
Please refer to URDF tutorial from below page.
Thank you. Could you please elaborate on
the camera_joint and the camera_link? And why do they have different
origin xyz (the pi cam is rigidly attached on the turtlebot3's plate)?
Which origin and rpy should I modify, camera joint or camera link?