diff --git a/config/esw.yaml b/config/esw.yaml
index f6927b8a7..3b31ebc09 100644
--- a/config/esw.yaml
+++ b/config/esw.yaml
@@ -11,6 +11,12 @@ gps:
 
 can:
   devices:
+    - name: "jetson"
+      bus: 0
+      id: 0x10
+    - name: "jetson"
+      bus: 1
+      id: 0x10
     - name: "jetson"
       bus: 2
       id: 0x10
@@ -18,43 +24,43 @@ can:
       bus: 3
       id: 0x10
     - name: "front_left"
-      bus: 2
+      bus: 0
       id: 0x12
     - name: "front_right"
-      bus: 2
+      bus: 0
       id: 0x11
     - name: "middle_left"
-      bus: 2
+      bus: 0
       id: 0x14
     - name: "middle_right"
-      bus: 2
+      bus: 0
       id: 0x13
     - name: "back_left"
-      bus: 2
+      bus: 0
       id: 0x16
     - name: "back_right"
-      bus: 2
+      bus: 0
       id: 0x15
     - name: "joint_a"
-      bus: 3
+      bus: 1
       id: 0x20
     - name: "joint_b"
-      bus: 3
+      bus: 1
       id: 0x21
     - name: "joint_c"
-      bus: 3
+      bus: 1
       id: 0x22
     - name: "joint_de_0"
-      bus: 3
+      bus: 1
       id: 0x23
     - name: "joint_de_1"
-      bus: 3
+      bus: 1
       id: 0x24
     - name: "allen_key"
-      bus: 3
+      bus: 1
       id: 0x25
     - name: "gripper"
-      bus: 3
+      bus: 1
       id: 0x26
     - name: "mast_gimbal_y"
       bus: 3
@@ -63,22 +69,22 @@ can:
       bus: 3
       id: 0x27
     - name: "sa_x"
-      bus: 3
+      bus: 1
       id: 0x29
     - name: "sa_y"
-      bus: 3
+      bus: 1
       id: 0x30
     - name: "sa_z"
-      bus: 3
+      bus: 1
       id: 0x31
     - name: "sampler"
-      bus: 3
+      bus: 1
       id: 0x32
     - name: "sensor_actuator"
-      bus: 3
+      bus: 1
       id: 0x33
     - name: "cache"
-      bus: 3
+      bus: 2
       id: 0x34
     - name: "pdlb"
       bus: 3
diff --git a/launch/esw_base.launch b/launch/esw_base.launch
index c5813e767..ccccaf969 100644
--- a/launch/esw_base.launch
+++ b/launch/esw_base.launch
@@ -3,15 +3,25 @@
 
       <!-- Bridges between ROS and SocketCAN -->
       <node name="can_driver_0" pkg="mrover" type="can_driver"
+            respawn="true" respawn_delay="2"
+            output="screen">
+            <param name="interface" value="can0" />
+      </node>
+      <node name="can_driver_1" pkg="mrover" type="can_driver"
+            respawn="true" respawn_delay="2"
+            output="screen">
+            <param name="interface" value="can1" />
+      </node>
+      <node name="can_driver_2" pkg="mrover" type="can_driver"
             respawn="true" respawn_delay="2"
             output="screen">
             <param name="interface" value="can2" />
       </node>
-      <!-- <node name="can_driver_1" pkg="mrover" type="can_driver"
+      <node name="can_driver_3" pkg="mrover" type="can_driver"
             respawn="true" respawn_delay="2"
             output="screen">
             <param name="interface" value="can3" />
-      </node> -->
+      </node>
 
       <node pkg="mrover" type="gst_websocket_streamer" name="gst_websocket_streamer_0"
             output="screen">
diff --git a/launch/esw_science.launch b/launch/esw_science.launch
index 587d4add4..b3306b6d0 100644
--- a/launch/esw_science.launch
+++ b/launch/esw_science.launch
@@ -4,9 +4,8 @@
     <!-- <node name="cache_bridge" pkg="mrover" type="cache_bridge" /> -->
     <node name="sa_hw_bridge" pkg="mrover" type="sa_hw_bridge" />
     <node name="sa_translator_bridge" pkg="mrover" type="sa_translator_bridge" />
-    <!-- <node name="science_bridge" pkg="mrover" type="science_bridge" /> -->
+    <node name="science_bridge" pkg="mrover" type="science_bridge" />
 
-    <!-- TODO(guthrie): FIGURE OUT HOW TO ADD THE DIRT SENSOR NODE -->
     <node name="serial_node" pkg="rosserial_python" type="serial_node.py">
         <param name="port" type="string" value="/dev/ttyACM0" />
         <param name="baud" type="int" value="57600" />