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Is there something in the denso_controller package that is hard coded for the vs060 that must be changed in order to use with the vp5243?

I guess you're partly right; default IP address is hardcoded in denso_controller/src/main.cpp. But it's configurable in launch files e.g. `denso_vs060_startup_skelton.launch. Try running:

roslaunch denso_launch denso_vs060_startup_skelton.launch controller_ip:=%IP_YOUR_CONTROLLERHOST%

By the way vp5243 is not tested with the denso pkg AFAIK. If it works fine, it'd be greatly appreciated if you could report on github (assuming you're using the packages from there).