diff --git a/launch/jetson_can.launch.py b/launch/jetson_can.launch.py
index 77a41ed7..de12e8d1 100644
--- a/launch/jetson_can.launch.py
+++ b/launch/jetson_can.launch.py
@@ -14,40 +14,40 @@
 
 def generate_launch_description():
 
-    can_bridge_1_node = Node(
+    can_bridge_0_node = Node(
         package="mrover",
         executable="can_bridge",
-        name="can_bridge_1",
+        name="can_bridge_0",
         parameters=[
             Path(get_package_share_directory("mrover"), "config", "esw.yaml"),
         ],
     )
 
-    can_bridge_2_node = Node(
+    can_bridge_1_node = Node(
         package="mrover",
         executable="can_bridge",
-        name="can_bridge_2",
+        name="can_bridge_1",
         parameters=[
             Path(get_package_share_directory("mrover"), "config", "esw.yaml"),
         ],
     )
 
-    can_bridge_3_node = Node(
+    can_bridge_2_node = Node(
         package="mrover",
         executable="can_bridge",
-        name="can_bridge_3",
+        name="can_bridge_2",
         parameters=[
             Path(get_package_share_directory("mrover"), "config", "esw.yaml"),
         ],
     )
 
-    can_bridge_4_node = Node(
+    can_bridge_3_node = Node(
         package="mrover",
         executable="can_bridge",
-        name="can_bridge_4",
+        name="can_bridge_3",
         parameters=[
             Path(get_package_share_directory("mrover"), "config", "esw.yaml"),
         ],
     )
 
-    return LaunchDescription([can_bridge_1_node, can_bridge_2_node, can_bridge_3_node, can_bridge_4_node])
+    return LaunchDescription([can_bridge_0_node, can_bridge_1_node, can_bridge_2_node, can_bridge_3_node])