diff --git a/CustomRobots/Turtlebot2/turtlebot2_simulated/turtlebot2/urdf/turtlebot2.urdf b/CustomRobots/Turtlebot2/turtlebot2_simulated/turtlebot2/urdf/turtlebot2.urdf
index fce3ee8a7..745317c64 100755
--- a/CustomRobots/Turtlebot2/turtlebot2_simulated/turtlebot2/urdf/turtlebot2.urdf
+++ b/CustomRobots/Turtlebot2/turtlebot2_simulated/turtlebot2/urdf/turtlebot2.urdf
@@ -722,7 +722,7 @@
   <joint name="camera_joint" type="fixed">
     <parent link="base_link"/>
     <child link="camera_link"/>
-    <origin rpy="0 0 0" xyz="0.13 0 0.32"/>
+    <origin rpy="0 -0.32 0" xyz="0.13 0 0.32"/>
   </joint>
   <link name="camera_depth_frame"/>
   <joint name="camera_depth_joint" type="fixed">
diff --git a/CustomRobots/amazon_hospital/src/person.cpp b/CustomRobots/amazon_hospital/src/person.cpp
index 54f3ac963..d63d3ebcc 100755
--- a/CustomRobots/amazon_hospital/src/person.cpp
+++ b/CustomRobots/amazon_hospital/src/person.cpp
@@ -41,7 +41,7 @@ namespace gazebo
         int state, current_wp;
         int turn_dir, linear_dir;
         bool auto_movement, linear_movement;
-        float lv_dt = 0.002; // discrete lineal velocity
+        float lv_dt = 0.001; // discrete lineal velocity
         float av_dt = 0.003; // discrete angular velocity
 
         // variables to use in MoveToWaypoint method