diff --git a/scout_base/launch/scout_base.launch b/scout_base/launch/scout_base.launch
index 88a8353..32ca81c 100644
--- a/scout_base/launch/scout_base.launch
+++ b/scout_base/launch/scout_base.launch
@@ -1,6 +1,6 @@
 <launch>
     <node name="scout_odom" pkg="scout_base" type="scout_base_node" output="screen">
-        <param name="port_name" type="string" value="can1" />
+        <param name="port_name" type="string" value="can0" />
 
         <param name="odom_frame" type="string" value="odom" />
         <param name="base_frame" type="string" value="base_footprint" />
diff --git a/scout_base/src/scout_base_node.cpp b/scout_base/src/scout_base_node.cpp
index e87df9e..6f4a919 100644
--- a/scout_base/src/scout_base_node.cpp
+++ b/scout_base/src/scout_base_node.cpp
@@ -29,6 +29,7 @@ int main(int argc, char **argv)
 
     // connect to scout and setup ROS subscription
     robot.ConnectCANBus(scout_can_port);
+    robot.StartCmdThread(10);
     messenger.SetupSubscription();
 
     // publish robot state at 20Hz while listening to twist commands
diff --git a/scout_base/src/scout_messenger.cpp b/scout_base/src/scout_messenger.cpp
index 35bfa48..f1a7fe4 100644
--- a/scout_base/src/scout_messenger.cpp
+++ b/scout_base/src/scout_messenger.cpp
@@ -37,6 +37,7 @@ void ScoutROSMessenger::TwistCmdCallback(const geometry_msgs::Twist::ConstPtr &m
     if (!simulated_robot_)
     {
         scout_->SetMotionCommand(msg->linear.x, msg->angular.z);
+        // ROS_INFO("cmd received:%f, %f", msg->linear.x, msg->angular.z);
     }
     else
     {
diff --git a/scout_base/src/scout_sdk/src/demo/demo_scout_can.cpp b/scout_base/src/scout_sdk/src/demo/demo_scout_can.cpp
index 0b24be5..53eb197 100644
--- a/scout_base/src/scout_sdk/src/demo/demo_scout_can.cpp
+++ b/scout_base/src/scout_sdk/src/demo/demo_scout_can.cpp
@@ -14,7 +14,7 @@ using namespace wescore;
 int main(int argc, char **argv)
 {
     ScoutBase scout;
-    scout.ConnectCANBus("can1");
+    scout.ConnectCANBus("can0");
     scout.StartCmdThread(10);
 
     scout.SetLightCommand({ScoutLightCmd::LightMode::CONST_ON, 0, ScoutLightCmd::LightMode::CONST_ON, 0});
diff --git a/scout_base/src/scout_sdk/src/sdk_core/scout_base/include/scout/scout_base.hpp b/scout_base/src/scout_sdk/src/sdk_core/scout_base/include/scout/scout_base.hpp
index 1575a89..3b35da1 100644
--- a/scout_base/src/scout_sdk/src/sdk_core/scout_base/include/scout/scout_base.hpp
+++ b/scout_base/src/scout_sdk/src/sdk_core/scout_base/include/scout/scout_base.hpp
@@ -40,7 +40,7 @@ public:
     // motion control
     void SetMotionCommand(double linear_vel, double angular_vel,
                           ScoutMotionCmd::FaultClearFlag fault_clr_flag = ScoutMotionCmd::FaultClearFlag::NO_FAULT);
-    
+
     // light control
     void SetLightCommand(ScoutLightCmd cmd);
     void DisableLightCmdControl();
@@ -63,6 +63,8 @@ private:
     ScoutMotionCmd current_motion_cmd_;
     ScoutLightCmd current_light_cmd_;
 
+    bool cmd_thread_started_ = false;
+
     bool light_ctrl_enabled_ = false;
     bool light_ctrl_requested_ = false;
 
diff --git a/scout_base/src/scout_sdk/src/sdk_core/scout_base/src/scout_base.cpp b/scout_base/src/scout_sdk/src/sdk_core/scout_base/src/scout_base.cpp
index 456bbbc..bd95cf9 100644
--- a/scout_base/src/scout_sdk/src/sdk_core/scout_base/src/scout_base.cpp
+++ b/scout_base/src/scout_sdk/src/sdk_core/scout_base/src/scout_base.cpp
@@ -93,6 +93,7 @@ void ScoutBase::ConnectCANBus(const std::string &can_if_name)
 void ScoutBase::StartCmdThread(int32_t period_ms)
 {
     cmd_thread_ = std::thread(std::bind(&ScoutBase::ControlLoop, this, period_ms));
+    cmd_thread_started_ = true;
 }
 
 void ScoutBase::ControlLoop(int32_t period_ms)
@@ -180,6 +181,10 @@ ScoutState ScoutBase::GetScoutState()
 
 void ScoutBase::SetMotionCommand(double linear_vel, double angular_vel, ScoutMotionCmd::FaultClearFlag fault_clr_flag)
 {
+    // make sure cmd thread is started before attempting to send commands
+    if (!cmd_thread_started_)
+        StartCmdThread(10);
+
     if (linear_vel < ScoutMotionCmd::min_linear_velocity)
         linear_vel = ScoutMotionCmd::min_linear_velocity;
     if (linear_vel > ScoutMotionCmd::max_linear_velocity)
diff --git a/scout_robot/package.xml b/scout_robot/package.xml
index 3e4c8e6..e454cd2 100644
--- a/scout_robot/package.xml
+++ b/scout_robot/package.xml
@@ -4,7 +4,7 @@
   <version>0.3.3</version>
   <description>Metapackage for AgileX Scout robot software</description>
 
-  <maintainer email="ruixiang.du@westonrobot.com">Ruixiang Du</maintainer>
+  <maintainer email="ruixiang.du@gmail.com">Ruixiang Du</maintainer>
 
   <license>BSD</license>
 
@@ -15,7 +15,6 @@
   <buildtool_depend>catkin</buildtool_depend>
   <run_depend>scout_bringup</run_depend>
   <run_depend>scout_base</run_depend>
-  <run_depend>scout_msgs</run_depend>
 
   <export>
     <metapackage/>