diff --git a/setup/start_rover.sh b/setup/start_rover.sh
index bfcc3190..745a299c 100755
--- a/setup/start_rover.sh
+++ b/setup/start_rover.sh
@@ -3,20 +3,6 @@ sudo enablecan.sh
 
 ROVER_DOCKER_IMAGE=cprtsoftware/rover:latest
 
- disco_server_id=$(docker ps -q -f name=disco-server)
- if [ -z "$disco_server_id" ]; then
-     echo "Starting the discovery server..."
-    docker run --rm -d \
-        --network host \
-        --ipc=host \
-        -v /var/run/docker.sock:/var/run/docker.sock \
-        --name disco-server \
-        $ROVER_DOCKER_IMAGE \
-        fastdds discovery -i 0 -p 11811
-else
-    echo "Discovery server is already running."
-fi
-
 web_server_id=$(docker ps -q -f name=web-server)
 if [ -z "$web_server_id" ]; then
     echo "Starting the web server..."
@@ -24,8 +10,6 @@ if [ -z "$web_server_id" ]; then
         --network host \
         --ipc host \
         --name web-server \
-        --env ROS_DISCOVERY_SERVER=192.168.0.55:11811 \
-        --env ROS_SUPER_CLIENT=TRUE \
         $ROVER_DOCKER_IMAGE \
         ros2 launch rosbridge_server rosbridge_websocket_launch.xml
 else
diff --git a/src/Arm/arm_control/launch/arm.launch.py b/src/Arm/arm_control/launch/arm.launch.py
index 156a5d87..18690fab 100644
--- a/src/Arm/arm_control/launch/arm.launch.py
+++ b/src/Arm/arm_control/launch/arm.launch.py
@@ -111,6 +111,7 @@ def arm_launch(moveit_config, launch_package_path=None) -> LaunchDescription:
             {"max_current": 1.0},
             {"brake_mode": True},
             {"interface": "can1"},
+            {"invert": True},
         ],
     )
     joystick_control_dir = get_package_share_directory("joystick_control")