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 78b0374..d8e0eb3 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:      79      # right motor VESC CAN ID
+    # ── CAN motor IDs ────────────────────────────────────────────────────────
+    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)
diff --git a/jetson/ros2_ws/src/saltybot_nav2_slam/saltybot_nav2_slam/vesc_odometry_bridge.py b/jetson/ros2_ws/src/saltybot_nav2_slam/saltybot_nav2_slam/vesc_odometry_bridge.py
index 27dced5..e79ee0d 100644
--- a/jetson/ros2_ws/src/saltybot_nav2_slam/saltybot_nav2_slam/vesc_odometry_bridge.py
+++ b/jetson/ros2_ws/src/saltybot_nav2_slam/saltybot_nav2_slam/vesc_odometry_bridge.py
@@ -57,7 +57,7 @@ class VESCCANOdometryNode(Node):
 
         # ── Parameters ────────────────────────────────────────────────────────
         self.declare_parameter("left_can_id",       56)      # CAN ID for left motor
-        self.declare_parameter("right_can_id",      79)      # CAN ID for right motor
+        self.declare_parameter("right_can_id",      68)      # CAN ID for right motor
         # Configurable state topic names — default to the names telemetry publishes
         self.declare_parameter("left_state_topic",  "/vesc/left/state")
         self.declare_parameter("right_state_topic", "/vesc/right/state")