In `/description/lidar.xacro` there is a block looking like this:
```
<jointname="laser_joint"type="fixed">
<parentlink="chassis"/>
<childlink="laser_frame"/>
<originxyz="-1.1 0.0 1.0"rpy="0 0 0"/>
</joint>
```
Modifying the origin key changes the position of the lidar (relative to the center of the front axle of the car). The simulation needs to be restarted.
There is a similar block in `/description/bbox_camera.xacro` looking like
```
<jointname="camera_joint"type="fixed">
<parentlink="laser_frame"/>
<childlink="camera_link"/>
<originxyz="0 -0.2 0"rpy="0 0 0"/>
</joint>
```
Modifying the origin yields the same result, but the camera is relative to the position of the lidar.