From d17afc0bcaead29fad95c6c0db8792d1ff2ba6e3 Mon Sep 17 00:00:00 2001
From: Mohammad Durrani <mdurrani808@gmail.com>
Date: Sat, 9 May 2026 17:06:42 -0400
Subject: [PATCH] added rover updates to latest

---
 .../ros2_control/drive/drive.odrive.ros2_control.xacro |  2 +-
 .../ros2_control/drive/drive.rmd.ros2_control.xacro    | 10 +++++-----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/description/ros2_control/drive/drive.odrive.ros2_control.xacro b/src/description/ros2_control/drive/drive.odrive.ros2_control.xacro
index e584d59e..2551097d 100644
--- a/src/description/ros2_control/drive/drive.odrive.ros2_control.xacro
+++ b/src/description/ros2_control/drive/drive.odrive.ros2_control.xacro
@@ -6,7 +6,7 @@
     <ros2_control name="${name}" type="system">
       <hardware>
         <plugin>odrive_ros2_control_plugin/ODriveHardwareInterface</plugin>
-        <param name="can">can0</param>
+        <param name="can">can1</param>
       </hardware>
 
       <joint name="steer_bl_joint">
diff --git a/src/description/ros2_control/drive/drive.rmd.ros2_control.xacro b/src/description/ros2_control/drive/drive.rmd.ros2_control.xacro
index 3bdd541d..66fe3810 100644
--- a/src/description/ros2_control/drive/drive.rmd.ros2_control.xacro
+++ b/src/description/ros2_control/drive/drive.rmd.ros2_control.xacro
@@ -7,7 +7,7 @@
         <param name="update_rate">30</param> <!-- Hz -->
         <param name="logger_rate">5</param> <!-- Hz -->
         <param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
-        <param name="can_interface">can0</param>
+        <param name="can_interface">can1</param>
       </hardware>
 
       <joint name="propulsion_fl_joint">
@@ -37,9 +37,9 @@
       </joint>
 
       <joint name="propulsion_bl_joint">
-        <param name="node_id">0x144</param>
+        <param name="node_id">0x15E</param>
         <param name="gear_ratio">1</param>
-        <param name="joint_orientation">-1.0</param>
+        <param name="joint_orientation">1.0</param>
         <param name="operating_velocity">150</param> <!-- motor dps -->
         <command_interface name="position"/>
         <command_interface name="velocity"/>
@@ -50,9 +50,9 @@
       </joint>
       
       <joint name="propulsion_br_joint">
-        <param name="node_id">0x141</param>
+        <param name="node_id">0x159</param>
         <param name="gear_ratio">1</param>
-        <param name="joint_orientation">1.0</param>
+        <param name="joint_orientation">-1.0</param>
         <param name="operating_velocity">150</param> <!-- motor dps -->
         <command_interface name="position"/>
         <command_interface name="velocity"/>