diff --git a/src/turtlebot3_autorace_2020/turtlebot3_autorace_core/nodes/all_core_node_controller b/src/turtlebot3_autorace_2020/turtlebot3_autorace_core/nodes/all_core_node_controller
index fd6ba3b..016724c 100755
--- a/src/turtlebot3_autorace_2020/turtlebot3_autorace_core/nodes/all_core_node_controller
+++ b/src/turtlebot3_autorace_2020/turtlebot3_autorace_core/nodes/all_core_node_controller
@@ -85,7 +85,6 @@
         self.launch_detect_tunnel_launched = False
         self.launch_control_tunnel_launched = False
         self.is_triggered = False
-        self.is_go = False
 
         loop_rate = rospy.Rate(10) # 10hz
         while not rospy.is_shutdown():
@@ -198,7 +197,7 @@
             msg_pub_traffic_light_order = UInt8()
             if self.current_step_traffic_light == self.StepOfTrafficLight.searching_traffic_light.value:
                 rospy.loginfo("node Current step : searching_traffic_light")
-                rospy.loginfo("node Go to next step : in_traffic_light %d",self.is_go)
+                rospy.loginfo("node Go to next step : in_traffic_light ")
 
                 msg_pub_traffic_light_order.data = self.StepOfTrafficLight.in_traffic_light.value
                 self.fnLaunch(self.Launcher.launch_camera_ex_calib.value, True)
@@ -216,18 +215,7 @@
                 self.fnLaunch(self.Launcher.launch_detect_tunnel.value, False)
                 self.fnLaunch(self.Launcher.launch_control_moving.value, False)
                 self.fnLaunch(self.Launcher.launch_control_tunnel.value, False)
-                
-                if self.is_go == False:
-                    self.fnLaunch(self.Launcher.launch_control_lane.value, False)
-                else:
-                    rospy.loginfo("node -----------------------------------")
-                    self.fnLaunch(self.Launcher.launch_control_lane.value, True)
-                    rospy.sleep(2)
-                    self.current_step_intersection = self.StepOfIntersection.detect_direction.value
-                    self.current_mode = self.CurrentMode.intersection.value
-                    msg_mode_return = UInt8()
-                    msg_mode_return.data = self.current_mode
-                    self.pub_mode_return.publish(msg_mode_return)
+                self.fnLaunch(self.Launcher.launch_control_lane.value, False)
 
             rospy.sleep(2)
             self.pub_traffic_light_order.publish(msg_pub_traffic_light_order)