Re-Calibrated the Camera Mount Angle to 17deg

This helps line up the depth points better.  Careful - the 17deg may be different on different bots.

bot_description/urdf/bot_front_caster.urdf

@@ -71,11 +71,11 @@
   <!--     which is  0.04875 in front of the wheel axle. -->
   <!-- So shifted    0.15058 in front of the wheel axle. -->
   <!-- Also Shifted  0.03633 above the wheel axle.       -->
-  <!-- And turned 20deg up!                              -->
+  <!-- And turned 17deg up!                              -->
   <joint name="axletocameraplate" type="fixed">
     <parent link="axle"/>
     <child  link="cameraplate"/>
-    <origin xyz="0.15058 0 0.03633" rpy="0 -0.35 0"/>
+    <origin xyz="0.15058 0 0.03633" rpy="0 -0.297 0"/>
   </joint>
 
   <link name="cameraplate"/>
@@ -90,13 +90,4 @@
 
   <link name="camera_link"/>
 
-  <!-- Laser scanner (placed at camera but horizontal) -->
-  <joint name="cameratolaser" type="fixed">
-    <parent link="camera_link"/>
-    <child  link="laser"/>
-    <origin xyz="0 0 0" rpy="0 0.35 0"/>
-  </joint>
-
-  <link name="laser"/>
-
 </robot>

bot_description/urdf/bot_front_wheels.urdf

@@ -71,11 +71,11 @@
   <!--     which is -0.04875 behind      the wheel axle. -->
   <!-- So shifted    0.05308 in front of the wheel axle. -->
   <!-- Also Shifted  0.03633 above the wheel axle.       -->
-  <!-- And turned 20deg up!                              -->
+  <!-- And turned 17deg up!                              -->
   <joint name="axletocameraplate" type="fixed">
     <parent link="axle"/>
     <child  link="cameraplate"/>
-    <origin xyz="0.05308 0 0.03633" rpy="0 -0.35 0"/>
+    <origin xyz="0.05308 0 0.03633" rpy="0 -0.297 0"/>
   </joint>
 
   <link name="cameraplate"/>
@@ -90,13 +90,4 @@
 
   <link name="camera_link"/>
 
-  <!-- Laser scanner (placed at camera but horizontal) -->
-  <joint name="cameratolaser" type="fixed">
-    <parent link="camera_link"/>
-    <child  link="laser"/>
-    <origin xyz="0 0 0" rpy="0 0.35 0"/>
-  </joint>
-
-  <link name="laser"/>
-
 </robot>