diff --git a/scout_base/src/scout_base_node.cpp b/scout_base/src/scout_base_node.cpp
index 7e6175d..7264918 100644
--- a/scout_base/src/scout_base_node.cpp
+++ b/scout_base/src/scout_base_node.cpp
@@ -22,7 +22,7 @@ int main(int argc, char **argv)
     ScoutROSMessenger messenger(&robot, node);
 
     std::string scout_can_port;
-    private_node.param<std::string>("port_name", scout_can_port, std::string("can1"));
+    private_node.param<std::string>("port_name", scout_can_port, std::string("can0"));
     private_node.param<std::string>("odom_frame", messenger.odom_frame_, std::string("odom"));
     private_node.param<std::string>("base_frame", messenger.base_frame_, std::string("base_footprint"));
     private_node.param<bool>("simulated_robot", messenger.simulated_robot_, false);
diff --git a/scout_base/src/scout_messenger.cpp b/scout_base/src/scout_messenger.cpp
index f1a7fe4..8d32f2d 100644
--- a/scout_base/src/scout_messenger.cpp
+++ b/scout_base/src/scout_messenger.cpp
@@ -37,13 +37,13 @@ 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
     {
         std::lock_guard<std::mutex> guard(twist_mutex_);
         current_twist_ = *msg.get();
     }
+    // ROS_INFO("cmd received:%f, %f", msg->linear.x, msg->angular.z);
 }
 
 void ScoutROSMessenger::GetCurrentMotionCmdForSim(double &linear, double &angular)