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..9b2a21bf 100644
--- a/src/description/ros2_control/drive/drive.rmd.ros2_control.xacro
+++ b/src/description/ros2_control/drive/drive.rmd.ros2_control.xacro
@@ -7,11 +7,11 @@
         <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">
-        <param name="node_id">0x142</param>
+        <param name="node_id">0x14A</param>
         <param name="gear_ratio">1</param>
         <param name="joint_orientation">-1.0</param>
         <param name="operating_velocity">150</param> <!-- motor dps -->
@@ -24,7 +24,7 @@
       </joint>
       
       <joint name="propulsion_fr_joint">
-        <param name="node_id">0x145</param>
+        <param name="node_id">0x141</param>
         <param name="gear_ratio">1</param>
         <param name="joint_orientation">1.0</param>
         <param name="operating_velocity">150</param> <!-- motor dps -->
@@ -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"/>
diff --git a/src/hardware_interfaces/ros_odrive/odrive_node/src/odrive_can_node.cpp b/src/hardware_interfaces/ros_odrive/odrive_node/src/odrive_can_node.cpp
index eaa85708..b27d8535 100644
--- a/src/hardware_interfaces/ros_odrive/odrive_node/src/odrive_can_node.cpp
+++ b/src/hardware_interfaces/ros_odrive/odrive_node/src/odrive_can_node.cpp
@@ -30,7 +30,7 @@ enum ControlMode : uint64_t {
 
 ODriveCanNode::ODriveCanNode(const std::string& node_name) : rclcpp::Node(node_name) {
     
-    rclcpp::Node::declare_parameter<std::string>("interface", "can0");
+    rclcpp::Node::declare_parameter<std::string>("interface", "can1");
     rclcpp::Node::declare_parameter<uint16_t>("node_id", 0);
     rclcpp::Node::declare_parameter<bool>("axis_idle_on_shutdown", false);
 
diff --git a/src/hardware_interfaces/ros_odrive/odrive_ros2_control/src/odrive_hardware_interface.cpp b/src/hardware_interfaces/ros_odrive/odrive_ros2_control/src/odrive_hardware_interface.cpp
index b7bd4cf0..d19a19c7 100644
--- a/src/hardware_interfaces/ros_odrive/odrive_ros2_control/src/odrive_hardware_interface.cpp
+++ b/src/hardware_interfaces/ros_odrive/odrive_ros2_control/src/odrive_hardware_interface.cpp
@@ -116,7 +116,7 @@ CallbackReturn ODriveHardwareInterface::on_init(const hardware_interface::Hardwa
         return CallbackReturn::ERROR;
     }
 
-    can_intf_name_ = info_.hardware_parameters["can"];
+    can_intf_name_ = "can1";
 
     for (auto& joint : info_.joints) {
         axes_.emplace_back(&can_intf_, std::stoi(joint.parameters.at("node_id")), std::stoi(joint.parameters.at("gear_ratio")));
diff --git a/src/infrastructure/umdloop_can_library/src/SocketCanBus.cpp b/src/infrastructure/umdloop_can_library/src/SocketCanBus.cpp
index 0b153200..15755d6a 100644
--- a/src/infrastructure/umdloop_can_library/src/SocketCanBus.cpp
+++ b/src/infrastructure/umdloop_can_library/src/SocketCanBus.cpp
@@ -205,4 +205,4 @@ void SocketCanBus::receiveLoop_() {
     }
 }
 
-} // namespace CANLib
\ No newline at end of file
+} // namespace CANLib