diff --git a/stretch_core/deps/image_pipeline b/stretch_core/deps/image_pipeline
new file mode 160000
index 00000000..71d537a5
--- /dev/null
+++ b/stretch_core/deps/image_pipeline
@@ -0,0 +1 @@
+Subproject commit 71d537a50bf4e7769af513f4a3d3df0d188cfa05
diff --git a/stretch_core/launch/stretch_driver.launch b/stretch_core/launch/stretch_driver.launch
index 8fadf0fd..14533a26 100644
--- a/stretch_core/launch/stretch_driver.launch
+++ b/stretch_core/launch/stretch_driver.launch
@@ -1,8 +1,10 @@
 <launch>
-  
+
   <param name="robot_description" textfile="$(find stretch_description)/urdf/stretch.urdf" />
   <arg name="calibrated_controller_yaml_file" value="$(find stretch_core)/config/controller_calibration_head.yaml"/>
-
+  <arg name="upright_camera" default="true"/>
+  <arg name="image_topic" default="/camera/color/image_raw"/>
+  
   <node
       name="joint_state_publisher"
       pkg="joint_state_publisher"
@@ -25,7 +27,7 @@
     </rosparam>
   </node>
   -->
-  
+
   <node
       name="robot_state_publisher"
       pkg="robot_state_publisher"
@@ -40,5 +42,10 @@
     <remap from="joint_states" to="/stretch/joint_states" />
     <param name="controller_calibration_file" type="string" value="$(arg calibrated_controller_yaml_file)"/>
   </node>
-  
+
+  <!--- Run upright_camera_view.launch file -->
+  <include file="$(find stretch_core)/launch/upright_camera_view.launch" if="$(arg upright_camera)">
+    <arg name="image_topic" value="$(arg image_topic)"/>
+  </include>
+
 </launch>
diff --git a/stretch_core/launch/upright_camera_view.launch b/stretch_core/launch/upright_camera_view.launch
new file mode 100644
index 00000000..22abfc3d
--- /dev/null
+++ b/stretch_core/launch/upright_camera_view.launch
@@ -0,0 +1,17 @@
+<launch>
+    <!--- Argument for the image_topic, target_frame_id, and target_z.
+          In this instance it is the Stretch's realsense camera-->
+    <arg name="image_topic" default="/camera/color/image_raw"/>
+    <arg name="target_frame_id"  default="camera_link"/>
+    <arg name="target_z" default="-1.0"/>
+
+    <!--- Run image_rotate package and set the desired image_topic to rotate.
+          The orientation parameters are set to the default values-->
+    <node name="image_rotate" pkg="image_rotate" type="image_rotate">
+      <remap from="image" to="$(arg image_topic)" />
+      <remap from="rotated/image" to="$(arg image_topic)_upright_view"/>
+      <param name="target_frame_id" type="str" value="$(arg target_frame_id)"/>
+      <param name="target_z" type="double" value="$(arg target_z)" />
+    </node>
+
+</launch>
diff --git a/stretch_gazebo/launch/gazebo.launch b/stretch_gazebo/launch/gazebo.launch
index ddf6a02a..3c104913 100644
--- a/stretch_gazebo/launch/gazebo.launch
+++ b/stretch_gazebo/launch/gazebo.launch
@@ -7,6 +7,8 @@
   <arg name="debug" default="false"/>
   <arg name="rviz" default="false"/>
   <arg name="model" default="$(find stretch_gazebo)/urdf/stretch_gazebo.urdf.xacro"/>
+  <arg name="upright_camera" default="true"/>
+  <arg name="image_topic" default="/camera/color/image_raw"/>
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="debug" value="$(arg debug)" />
@@ -29,8 +31,13 @@
 
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find stretch_gazebo)/config/sim.rviz" if="$(arg rviz)"/>
 
+  <!--- Run upright_camera_view.launch file -->
+  <include file="$(find stretch_core)/launch/upright_camera_view.launch" if="$(arg upright_camera)">
+    <arg name="image_topic" value="$(arg image_topic)"/>
+  </include>
+
   <rosparam command="load"
-            file="$(find stretch_gazebo)/config/joints.yaml" 
+            file="$(find stretch_gazebo)/config/joints.yaml"
             ns="stretch_joint_state_controller" />
 
   <rosparam command="load"