There's an option to use Turtle Control Software with Raspicam connected instead of stock USB camera.
To do that you'll need to disconnect the stock USB camera, disconnect Turtle Electronics from Raspberry Pi and connect Raspicam to Raspberry Pi camera connector (please mind the tape connector orientation and the right port to connect).
Put the Electronics back on Raspberry Pi as you route the tape the way you like.
Power on the electronics / Rover and access it via console.
Now you need to enable the camera CSI port by properly configuring Raspberry Pi config file. Access it by typing:
Go to '5 Interfacing Options'
Check 'P1 Camera - Enable/Disable...'
Click '<Yes>', then '<Ok>' and click ESC.
Reboot the system either by powering off and on or by:
Login to the system again. The camera will now be enabled every time you reboot the electronics / Rover.
As the server files are already installed in TurtleOS you don't need to do that.
Simply run the commands listed below. First, kill any running uv4l server.
sudo pkill uv4l
Then start a new streaming using raspicam driver
sudo uv4l -nopreview --auto-video_nr --driver raspicam --encoding mjpeg --width 640 --height 480 --framerate 20 --server-option '--port=8090' --server-option '--max-queued-connections=30' --server-option '--max-streams=25' --server-option '--max-threads=29'
Now simply get back to the Rover interface in your browser
The tutorial is based on: https://www.instructables.com/id/Raspberry-Pi-Video-Streaming/