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+Help for the upright view, checkout out the /feature/upright_camera_view in the stretch_core package.
+
+```bash
+cd ~/catkin_ws/src/stretch_ros/stretch_core
+git checkout feature/upright_camera_view
+```
+
+```bash
+roslaunch stretch_core stretch_driver.launch
+```
+
+```bash
+roslaunch stretch_core d435i_low_resolution.launch
+```
+
+```bash
+rosrun rviz rviz -d /catkin_ws/src/stretch_ros_tutorials/rviz/perception_example.rviz
+```
+
+```bash
+rosrun stretch_core keyboard_teleop
+```