diff --git a/urdf/helena.xacro b/urdf/helena.xacro
index 5974b70e8176b957715d2c98613e15e9813d746c..4e4817cc0737c017600647fe4897153c7a980b8e 100755
--- a/urdf/helena.xacro
+++ b/urdf/helena.xacro
@@ -19,7 +19,7 @@
   </xacro:sensor_laser>
 
   <xacro:sensor_camera parent="top_plate" name="front_bluefox_camera" prefix="$(arg name)">
-    <origin xyz="0.109 0 0.085" rpy="0 0 0"/>
+    <origin xyz="0.109 0 0.085" rpy="1.57079 0 0"/>
   </xacro:sensor_camera>
 
   <xacro:sensor_laser_3d parent="top_plate" name="laser_3d" prefix="$(arg name)">
diff --git a/urdf/platform/platform.xacro b/urdf/platform/platform.xacro
index 030295e72b22d4e357329e74c73ffd2375da16f7..f67ae4d9be570aa03073516ed68351c212bbbeaf 100644
--- a/urdf/platform/platform.xacro
+++ b/urdf/platform/platform.xacro
@@ -27,8 +27,11 @@
 
   <joint name="base_link_joint" type="fixed">
     <origin xyz="0 0 0" rpy="0 0 0"/>
-    <parent link="base_footprint"/>
-    <child link="base_link"/>
+   <!-- <parent link="base_footprint"/>
+    <child link="base_link"/>-->
+    <parent link="base_link"/>
+    <child link="base_footprint"/>
+   
   </joint>
 
   <link name="top_plate">