diff --git a/enable_CAN.sh b/enable_CAN.sh
index aa0964dc..756c815a 100644
--- a/enable_CAN.sh
+++ b/enable_CAN.sh
@@ -1,21 +1,16 @@
 #!/bin/bash
 
 CAN_BITRATE="${CAN_BITRATE:-125000}"
-CAN_DBITRATE="${CAN_DBITRATE:-500000}"
+CAN_DBITRATE="${CAN_DBITRATE:-125000}"
 
 sudo modprobe can
 sudo modprobe can_raw
 sudo modprobe mttcan
 
 sudo ip link set can0 type can bitrate "${CAN_BITRATE}" dbitrate "${CAN_DBITRATE}" \
-     berr-reporting on fd on
-sudo ip link set can1 type can bitrate "${CAN_BITRATE}" dbitrate "${CAN_DBITRATE}" \
-     berr-reporting on fd on
+     berr-reporting on fd on restart-ms 100
 sudo ip link set up can0
-sudo ip link set up can1
 
 if [[ $? != 0 ]]; then
-  echo "Could not enable hardware CAN interface; using virtual CAN instead."
-  sudo ip link add type vcan
-  sudo ip link set dev vcan0 up
+  echo "Error enabling can0 interface!"
 fi
diff --git a/enable_CAN_and_GPS.sh b/enable_CAN_and_GPS.sh
index b0e1426f..a951ca86 100755
--- a/enable_CAN_and_GPS.sh
+++ b/enable_CAN_and_GPS.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 
 CAN_BITRATE=125000
-CAN_DBITRATE=500000
+CAN_DBITRATE=125000
 GPS_PATH="/dev/ttyUSB0"
 
 sudo modprobe can
@@ -9,16 +9,11 @@ sudo modprobe can_raw
 sudo modprobe mttcan
 
 sudo ip link set can0 type can bitrate "${CAN_BITRATE}" dbitrate "${CAN_DBITRATE}" \
-     berr-reporting on fd on
-sudo ip link set can1 type can bitrate "${CAN_BITRATE}" dbitrate "${CAN_DBITRATE}" \
-     berr-reporting on fd on
+     berr-reporting on fd on restart-ms 100
 sudo ip link set up can0
-sudo ip link set up can1
 
 if [[ $? != 0 ]]; then
-  echo "Could not enable hardware CAN interface; using virtual CAN instead."
-  sudo ip link add type vcan
-  sudo ip link set dev vcan0 up
+  echo "Error enabling can0 interface!"
 fi
 
 # For some reason, on the rover, the gpsd that starts on boot does not
diff --git a/rover-config/50-rover-cameras.rules b/rover-config/50-rover-cameras.rules
index 255c4ac9..e1865872 100644
--- a/rover-config/50-rover-cameras.rules
+++ b/rover-config/50-rover-cameras.rules
@@ -7,10 +7,10 @@
 # Install this in /etc/udev/rules.d
 
 # Hand camera
-SUBSYSTEM=="video4linux", ATTRS{idVendor}=="0c45", ATTRS{idProduct}=="6369", KERNELS=="1-2.1", SYMLINK+="video20"
+SUBSYSTEM=="video4linux", ATTRS{idVendor}=="0c45", ATTRS{idProduct}=="6369", ATTR{index}=="0", SYMLINK+="video20"
 
 # Forearm camera
-SUBSYSTEM=="video4linux", ATTRS{idVendor}=="32e4", ATTRS{idProduct}=="9230", KERNELS=="1-2.1", SYMLINK+="video30"
+SUBSYSTEM=="video4linux", ATTRS{idVendor}=="32e4", ATTRS{idProduct}=="9230", ATTR{index}=="0", SYMLINK+="video30"
 
 # Mast camera
-SUBSYSTEM=="video4linux", ATTRS{idVendor}=="05a3", ATTRS{idProduct}=="9230", KERNELS=="1-2.4.4", SYMLINK+="video40"
+SUBSYSTEM=="video4linux", ATTRS{idVendor}=="05a3", ATTRS{idProduct}=="9230", ATTR{index}=="0", SYMLINK+="video40"
diff --git a/src/CAN/CAN.cpp b/src/CAN/CAN.cpp
index 326c8b93..9bfc2adf 100644
--- a/src/CAN/CAN.cpp
+++ b/src/CAN/CAN.cpp
@@ -264,13 +264,16 @@ void initCAN() {
 }
 
 void sendCANPacket(const CANPacket& packet) {
-	can_frame frame;
+	canfd_frame frame;
+	std::memset(&frame, 0, sizeof(frame));
 	frame.can_id = packet.id;
-	frame.can_dlc = packet.dlc;
+	frame.len = packet.dlc;
 	std::memcpy(frame.data, packet.data, packet.dlc);
 	bool success;
 	{
 		std::lock_guard lock(socketMutex);
+		// note that frame is a canfd_frame but we're using sizeof(can_frame)
+		// not sure why this is required to work
 		success = write(can_fd, &frame, sizeof(struct can_frame)) == sizeof(struct can_frame);
 		tcdrain(can_fd);
 	}
diff --git a/src/world_interface/real_world_interface.cpp b/src/world_interface/real_world_interface.cpp
index 814442f0..5bcf2fc3 100644
--- a/src/world_interface/real_world_interface.cpp
+++ b/src/world_interface/real_world_interface.cpp
@@ -113,6 +113,7 @@ void openCamera(CameraID camID, const char* cameraPath) {
 
 void setupCameras() {
 	openCamera(Constants::MAST_CAMERA_ID, Constants::MAST_CAMERA_CONFIG_PATH);
+	openCamera(Constants::FOREARM_CAMERA_ID, Constants::FOREARM_CAMERA_CONFIG_PATH);
 	openCamera(Constants::HAND_CAMERA_ID, Constants::HAND_CAMERA_CONFIG_PATH);
 }
 } // namespace