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The first rooftop is at the building just south of the northmost Handsome Jack statue. To climb it, just walk up the sloped side of the building to the balcony at the top.
To reach the second rooftop, you will have to climb a huge beam in front of the vending stations at the southwest shore, near the bridge leading to the huge crane. A BUL loader will spawn upon reaching the rooftop.
The last rooftop can only be reached via the window washer platform at the southwest side of the office building opposite of the helipad in west Opportunity. To reach it, you will need another player to press the elevator button after climbing the platform via the support beam below.