diff --git a/config/esw.yaml b/config/esw.yaml
index 39e47e8eb..504133eb7 100644
--- a/config/esw.yaml
+++ b/config/esw.yaml
@@ -66,10 +66,10 @@ can:
       id: 0x26
     - name: "mast_gimbal_y"
       bus: 3
-      id: 0x30
+      id: 0x28
     - name: "mast_gimbal_z"
       bus: 3
-      id: 0x28
+      id: 0x30
     - name: "sa_x"
       bus: 1
       id: 0x29
diff --git a/launch/basestation.launch b/launch/basestation.launch
index 30fb2d0f8..8e48807d8 100644
--- a/launch/basestation.launch
+++ b/launch/basestation.launch
@@ -22,6 +22,7 @@
   </group>
 
   <node if="$(arg rtk)" name="basestation_gps_driver" pkg="mrover" type="basestation_gps_driver.py"
+        respawn="true" respawn_delay="2"
         output="screen"/>
 
   <node if="$(arg network)" name="network_monitor" pkg="mrover" type="network_monitor.py"/>