Initial setup - problem with robot URDF

[hamsadatta]

Hi,
I am trying to setup the repository for my use case and trying to understand the systems working. Most of the components are working and I am able to launch the files that you provided in the "Run examples" section in the README. However, I see the URDF doesn't load correctly or is wrong. The camera along with the gimbal are not positioned correctly, they are present inside the robot as show in the picture. If try to change the position the camera doesn't stay static. The wheels are also not aligned correctly. Is the URDF correct?