diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_io_bridge_node.py
similarity index 100%
rename from jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_cmd_node.py
rename to jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_io_bridge_node.py
diff --git a/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_protocol.py b/jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_protocol.py
similarity index 100%
rename from jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/stm32_protocol.py
rename to jetson/ros2_ws/src/saltybot_bridge/saltybot_bridge/esp32_protocol.py
diff --git a/jetson/ros2_ws/src/saltybot_bridge/setup.py b/jetson/ros2_ws/src/saltybot_bridge/setup.py
index dc798c0..ddde999 100644
--- a/jetson/ros2_ws/src/saltybot_bridge/setup.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/setup.py
@@ -41,8 +41,8 @@ setup(
             # Nav2 cmd_vel bridge: velocity limits + ramp + deadman + mode gate
             "cmd_vel_bridge_node = saltybot_bridge.cmd_vel_bridge_node:main",
             "remote_estop_node  = saltybot_bridge.remote_estop_node:main",
-            # Binary-framed STM32 command node (Issue #119)
-            "stm32_cmd_node    = saltybot_bridge.stm32_cmd_node:main",
+            # ESP32-IO inter-board bridge node
+            "esp32_io_bridge_node = saltybot_bridge.esp32_io_bridge_node:main",
             # Battery management node (Issue #125)
             "battery_node      = saltybot_bridge.battery_node:main",
             # Production CAN bridge: FC telemetry RX + /cmd_vel TX over CAN (Issues #680, #672, #685)
diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/__init__.py b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/__init__.py
index e146650..5d2eab6 100644
--- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/__init__.py
+++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/__init__.py
@@ -1 +1 @@
-"""SaltyBot CAN bridge package — Mamba controller and VESC telemetry via python-can."""
+"""SaltyBot CAN bridge package — ESP32-S3 BALANCE controller and VESC telemetry via python-can."""
diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/mamba_protocol.py b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py
similarity index 98%
rename from jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/mamba_protocol.py
rename to jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py
index 32985e2..3538276 100644
--- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/mamba_protocol.py
+++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/balance_protocol.py
@@ -1,8 +1,7 @@
 #!/usr/bin/env python3
-"""mamba_protocol.py — CAN frame codec for Orin ↔ ESP32-S3 BALANCE.
+"""balance_protocol.py — CAN frame codec for Orin ↔ ESP32-S3 BALANCE.
 
 Spec: docs/SAUL-TEE-SYSTEM-REFERENCE.md §6 (2026-04-04)
-File name retained for import compatibility.
 
 CAN bus: 500 kbps, standard 11-bit IDs, CANable 2.0 (slcan0 / can0) on Orin.
 
diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py
index f0e6b76..0db02cb 100644
--- a/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py
+++ b/jetson/ros2_ws/src/saltybot_can_bridge/saltybot_can_bridge/can_bridge_node.py
@@ -40,7 +40,7 @@ from rclpy.node import Node
 from sensor_msgs.msg import BatteryState
 from std_msgs.msg import Bool, Float32MultiArray, String
 
-from saltybot_can_bridge.mamba_protocol import (
+from saltybot_can_bridge.balance_protocol import (
     ORIN_CMD_DRIVE,
     ORIN_CMD_ARM,
     ORIN_CMD_ESTOP,
diff --git a/jetson/ros2_ws/src/saltybot_can_bridge/setup.py b/jetson/ros2_ws/src/saltybot_can_bridge/setup.py
index 88161c9..e940f26 100644
--- a/jetson/ros2_ws/src/saltybot_can_bridge/setup.py
+++ b/jetson/ros2_ws/src/saltybot_can_bridge/setup.py
@@ -15,7 +15,7 @@ setup(
     zip_safe=True,
     maintainer="sl-controls",
     maintainer_email="sl-controls@saltylab.local",
-    description="CAN bus bridge for Mamba controller and VESC telemetry",
+    description="CAN bus bridge for ESP32-S3 BALANCE controller and VESC telemetry",
     license="MIT",
     tests_require=["pytest"],
     entry_points={