diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml b/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml
index b66aafe..1fa8a32 100644
--- a/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml
+++ b/jetson/ros2_ws/src/saltybot_nav2_slam/config/vesc_odometry_params.yaml
@@ -1,12 +1,12 @@
 vesc_can_odometry:
   ros__parameters:
     # ── CAN motor IDs (used for CAN addressing) ───────────────────────────────
-    left_can_id:       56      # left  motor VESC CAN ID
-    right_can_id:      68      # right motor VESC CAN ID
+    left_can_id:        56      # left  motor VESC CAN ID (Mamba F722S)
+    right_can_id:       68      # right motor VESC CAN ID (Mamba F722S)
 
-    # ── State topic names (must match what telemetry publishes) ───────────────
-    left_state_topic:  /vesc/left/state
-    right_state_topic: /vesc/right/state
+    # ── State topic names (must match VESC telemetry publisher) ──────────────
+    left_state_topic:   /vesc/left/state
+    right_state_topic:  /vesc/right/state
 
     # ── Drive geometry ───────────────────────────────────────────────────────
     wheel_radius:      0.10    # wheel radius (m)