diff --git a/README.md b/README.md
index 86ef3c6..d0535ac 100644
--- a/README.md
+++ b/README.md
@@ -12,6 +12,10 @@ This repository contains minimal packages to control the scout robot using ROS.
 
 Please refer to the [README](https://github.com/westonrobot/wrp_sdk#hardware-interface) of "wrp_sdk" package for setup of communication interfaces.
 
+#### Note on CAN interface on Nvidia Jetson Platforms
+
+Nvidia Jeston TX2/Xavier/XavierNX have CAN controller(s) integrated in the main SOC. If you're using a dev kit, you need to add a CAN transceiver for proper CAN communication. 
+
 ## Basic usage of the ROS package
 
 1. Install dependent libraries
diff --git a/scout_base/include/scout_base/scout_params.hpp b/scout_base/include/scout_base/scout_params.hpp
new file mode 100644
index 0000000..f37b4ce
--- /dev/null
+++ b/scout_base/include/scout_base/scout_params.hpp
@@ -0,0 +1,35 @@
+/* 
+ * scout_params.hpp
+ * 
+ * Created on: Sep 27, 2019 15:08
+ * Description: 
+ * 
+ * Copyright (c) 2020 Ruixiang Du (rdu)
+ */ 
+
+#ifndef SCOUT_PARAMS_HPP
+#define SCOUT_PARAMS_HPP
+
+#include <cstdint>
+
+namespace westonrobot
+{
+struct ScoutParams
+{
+    /* Scout Parameters */
+    static constexpr double max_steer_angle = 30.0; // in degree
+
+    static constexpr double track = 0.576;        // in meter (left & right wheel distance)
+    static constexpr double wheelbase = 0.648;    // in meter (front & rear wheel distance)
+    static constexpr double wheel_radius = 0.165; // in meter
+
+    // from user manual v1.2.8 P18
+    // max linear velocity: 1.5 m/s
+    // max angular velocity: 0.7853 rad/s
+    static constexpr double max_linear_speed = 1.5;  // in m/s
+    static constexpr double max_angular_speed = 0.7853; // in rad/s
+    static constexpr double max_speed_cmd = 10.0;       // in rad/s
+};
+} // namespace westonrobot
+
+#endif /* SCOUT_PARAMS_HPP */
diff --git a/scout_bringup/launch/scout_webots_sim.launch b/scout_bringup/launch/scout_webots_sim.launch
index 92ac951..9808cda 100644
--- a/scout_bringup/launch/scout_webots_sim.launch
+++ b/scout_bringup/launch/scout_webots_sim.launch
@@ -1,3 +1,4 @@
 <launch>
+    <include file="$(find scout_base)/launch/scout_base_sim.launch" />
     <include file="$(find scout_webots_sim)/launch/scout_base.launch" />
 </launch>