diff --git a/meta-ros-common/conf/ros-distro/include/ros-world-recipe-blacklist.inc b/meta-ros-common/conf/ros-distro/include/ros-world-recipe-blacklist.inc
index 2409797d241..d8a2c0c3082 100644
--- a/meta-ros-common/conf/ros-distro/include/ros-world-recipe-blacklist.inc
+++ b/meta-ros-common/conf/ros-distro/include/ros-world-recipe-blacklist.inc
@@ -47,3 +47,4 @@ PNBLACKLIST[python-networkmanager] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROU
 PNBLACKLIST[packagegroup-meta-oe] ?= "${@bb.utils.contains_any('ROS_WORLD_SKIP_GROUPS', ['world-issues'], 'world-issues: Depends on blacklisted packages like libvncserver,x11vnc', '', d)}"
 
 PNBLACKLIST[userland] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'opengl', 'depends on libegl-mesa from mesa-gl which is not available without opengl in DISTRO_FEATURES', '', d)}"
+PNBLACKLIST[raspicam-node] ?= "${@bb.utils.contains('ROS_WORLD_SKIP_GROUPS', 'opengl', 'depends on userland which is not available without opengl in DISTRO_FEATURES', '', d)}"
diff --git a/meta-ros-common/recipes-core/packagegroups/packagegroup-ros-turtlebot3-core.bb b/meta-ros-common/recipes-core/packagegroups/packagegroup-ros-turtlebot3-core.bb
index 505c6eb6e89..32004c17421 100644
--- a/meta-ros-common/recipes-core/packagegroups/packagegroup-ros-turtlebot3-core.bb
+++ b/meta-ros-common/recipes-core/packagegroups/packagegroup-ros-turtlebot3-core.bb
@@ -15,15 +15,14 @@ TURTLEBOT3_PACKAGES_LIDAR:qemux86 = ""
 
 # From just above here http://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_raspi_cam/#run-raspicam-node (also see
 # http://emanual.robotis.com/docs/en/platform/turtlebot3/applications/#turtlebot-panorama-demo):
-TURTLEBOT3_PACKAGES_CAMERA:rpi ??= " \
+TURTLEBOT3_PACKAGES_CAMERA:append:rpi ??= " \
     camera-info-manager \
     compressed-image-transport \
 "
-TURTLEBOT3_PACKAGES_CAMERA:rpi:append:ros1-distro = " \
-    raspicam-node \
-"
 # raspicam-node depends on userland to provide mmal, but for aarch64 it doesn't provide it.
-TURTLEBOT3_PACKAGES_CAMERA:remove:aarch64 = "raspicam-node"
+TURTLEBOT3_PACKAGES_CAMERA:append:rpi:ros1-distro:arm = " \
+    ${@bb.utils.contains('DISTRO_FEATURES', 'opengl', 'raspicam-node', '', d)} \
+"
 
 TURTLEBOT3_PACKAGES_CAMERA ??= ""