From 0535ffaa8f6f56d621ba06fc7a9faf8f4e582055 Mon Sep 17 00:00:00 2001
From: lucia <lucia.chen01@hotmail.com>
Date: Tue, 21 Oct 2025 17:49:43 +0200
Subject: [PATCH 1/2] adjusted turtlebot2 camera angle

---
 .../turtlebot2_simulated/turtlebot2/urdf/turtlebot2.urdf        | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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">

From 09f027b2899304a5d52cec93eb015135fe51a8fe Mon Sep 17 00:00:00 2001
From: lucia <lucia.chen01@hotmail.com>
Date: Tue, 21 Oct 2025 18:11:38 +0200
Subject: [PATCH 2/2] reduced auto movement person speed

---
 CustomRobots/amazon_hospital/src/person.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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