diff --git a/apps/icon/layer.png b/apps/icon/layer.png
deleted file mode 100644
index 2ccd413..0000000
--- a/apps/icon/layer.png
+++ /dev/null
Binary files differ
diff --git a/apps/icon/locked_button.png b/apps/icon/locked_button.png
new file mode 100644
index 0000000..c23e36d
--- /dev/null
+++ b/apps/icon/locked_button.png
Binary files differ
diff --git a/apps/icon/maps.png b/apps/icon/maps.png
new file mode 100644
index 0000000..aeb9c3e
--- /dev/null
+++ b/apps/icon/maps.png
Binary files differ
diff --git a/apps/icon/unlocked_button.png b/apps/icon/unlocked_button.png
new file mode 100644
index 0000000..dd62ba5
--- /dev/null
+++ b/apps/icon/unlocked_button.png
Binary files differ
diff --git a/apps/mylib/application.py b/apps/mylib/application.py
index c02b644..9eab68f 100644
--- a/apps/mylib/application.py
+++ b/apps/mylib/application.py
@@ -54,12 +54,13 @@
     ++++++++++ File menu functions ++++++++++
     """
     def menu_open_base(self, event=None):
-        map_path = self.menu_open(title="Select base map yaml file")
+        map_path = self.open_yaml(title="Select base map yaml file")
         if not map_path: return
-        waypoints_path = self.menu_open(title="Select waypoints file for the map")
+        waypoints_path = self.open_yaml(title="Select waypoints file for the map")
         if not waypoints_path: return
 
-        self.tools.set_base_map(Path(map_path).resolve(), Path(waypoints_path).resolve())
+        suc = self.tools.set_base_map(Path(map_path).resolve(), Path(waypoints_path).resolve())
+        if not suc: return
         self.open_menu.entryconfigure("Base map", state="disabled")
         self.open_menu.entryconfigure("Multimaps dir", state="disabled")
         self.open_menu.entryconfigure("Additional map", state="normal")
@@ -67,9 +68,9 @@
     
 
     def menu_open_addtion(self, event=None):
-        map_path = self.menu_open(title="Select additional map yaml file")
+        map_path = self.open_yaml(title="Select additional map yaml file")
         if not map_path: return
-        waypoints_path = self.menu_open(title="Select waypoints file for the map")
+        waypoints_path = self.open_yaml(title="Select waypoints file for the map")
         if not waypoints_path: return
         self.tools.add_map(Path(map_path).resolve(), Path(waypoints_path).resolve())
         return
@@ -84,24 +85,17 @@
         if not dirpath: return
         dirpath = Path(dirpath)
         if not (dirpath / Path("map0.yaml")).exists(): return
-        map_path = dirpath / Path("map0.yaml")
-        waypoints_path = dirpath / Path("waypoints0.yaml")
-        self.tools.set_base_map(map_path, waypoints_path)
-        i = 1
-        while(True):
-            map_path = dirpath / Path("map{}.yaml".format(i))
-            waypoints_path = dirpath / Path("waypoints{}.yaml".format(i))
-            if not map_path.exists(): break
-            self.tools.add_map(map_path, waypoints_path)
-            i += 1
-            
+        waypoints_path = self.open_yaml(title="Select waypoints file for the map")
+        if not waypoints_path: return
+        suc = self.tools.set_multimaps(dirpath, Path(waypoints_path).resolve())
+        if not suc: return
         self.open_menu.entryconfigure("Base map", state="disabled")
         self.open_menu.entryconfigure("Multimaps dir", state="disabled")
         self.open_menu.entryconfigure("Additional map", state="normal")
         return
     
 
-    def menu_open(self, title):
+    def open_yaml(self, title):
         filepath = tkinter.filedialog.askopenfilename(
             parent=self.master,
             title=title,
@@ -113,25 +107,14 @@
 
     def menu_export(self, event=None):
         if (len(self.tools.label_list) < 2): return
+        ## サブウィンドウを作成
         win = tk.Toplevel()
-        win.geometry("1000x300+50+50")
-        win.minsize(width=500, height=300)
+        win.geometry("700x200+50+50")
+        win.minsize(width=500, height=200)
         win.attributes('-topmost', True)
         win.title("Export")
-        font = ("Consolas", 12)
+        font = ("Arial", 12)
 
-        ### ファイルパスを参照するダイアログを開く関数（ボタンコールバック） ###
-        def ref_btn_callback_f(entry: tk.Entry, init_dir):
-            filepath = tkinter.filedialog.asksaveasfilename(
-                parent=win,
-                title="File path to export",
-                initialdir=init_dir,
-                filetypes=[("YAML", ".yaml")]
-            )
-            if not filepath: return
-            entry.delete(0, tk.END)
-            entry.insert(tk.END, str(filepath))
-        
         ### ファルダパスを参照するダイアログを開く関数（ボタンコールバック） ###
         def ref_btn_callback_d(entry: tk.Entry, init_dir):
             dirpath = tkinter.filedialog.askdirectory(
@@ -142,39 +125,33 @@
             if not dirpath: return
             entry.delete(0, tk.END)
             entry.insert(tk.END, str(dirpath))
-
-        ### ファイルの保存場所の表示、変更をするフィールドを作成する関数 ###
-        def create_entry(label_txt, init_path, callback):
-            frame = tk.Frame(win)
-            frame.pack(expand=False, fill=tk.X, padx=5, pady=10)
-            label = tk.Label(frame, text=label_txt, anchor=tk.W, font=font)
-            label.grid(column=0, row=0, padx=3, pady=2, sticky=tk.EW)
-            ref_btn = tk.Button(frame, image=self.tools.folder_icon)
-            ref_btn.grid(column=1, row=1, sticky=tk.E, padx=5)
-            tbox = tk.Entry(frame, font=font)
-            tbox.grid(column=0, row=1, padx=20, pady=2, sticky=tk.EW)
-            tbox.insert(tk.END, init_path)
-            init_dir = str(Path(init_path).parent)
-            ref_btn["command"] = lambda entry=tbox, init_dir=init_dir: callback(entry, init_dir)
-            frame.grid_columnconfigure(0, weight=1)
-            return tbox
         
+        ## サブウィンドウにフォルダ入力エントリーを作成
+        frame = tk.Frame(win)
+        frame.pack(expand=False, fill=tk.X, padx=5, pady=10)
+        label = tk.Label(frame, text="Directory :", anchor=tk.W, font=font)
+        label.grid(column=0, row=0, padx=3, pady=2, sticky=tk.EW)
+        ref_btn = tk.Button(frame, image=self.tools.folder_icon)
+        ref_btn.grid(column=1, row=1, sticky=tk.E, padx=5)
+        tbox = tk.Entry(frame, font=font)
+        tbox.grid(column=0, row=1, padx=20, pady=2, sticky=tk.EW)
+        init_dir = str(Path(".").resolve())
+        tbox.insert(tk.END, init_dir)
+        ref_btn["command"] = lambda entry=tbox, init_dir=init_dir: ref_btn_callback_d(entry, init_dir)
+        frame.grid_columnconfigure(0, weight=1)
+
         ##　マルチマップyaml、結合したウェイポイント、合成した地図画像と情報yamlを取得
-        # multimap_yaml, path = self.tools.get_multimap_yaml()
-        map_img_list, map_yaml_list, path = self.tools.get_map_lists()
-        tbox1 = create_entry("- Multi mps directory:", str(path), ref_btn_callback_d)
-        wp_yaml, wp_yaml_list, path = self.tools.get_waypoints_yaml()
-        tbox2 = create_entry("- Merged waypoints yaml file:", str(path), ref_btn_callback_f)
-        merged_img_pil, merged_yaml, path = self.tools.get_merged_map()
-        tbox3 = create_entry("- Merged map (yaml, pgm) file:", str(path), ref_btn_callback_f)
+        map_img_list, map_yaml_list = self.tools.get_map_lists()
+        wp_yaml, wp_yaml_list = self.tools.get_waypoints_yaml()
+        merged_img_pil, merged_yaml = self.tools.get_merged_map()
 
         ### それぞれをファイルに書き込む関数（ボタンコールバック） ###
         def export_btn_callback():
             # multi maps
-            path = Path(tbox1.get())
-            if not path.exists(): path.mkdir()
+            dir_path = Path(tbox.get()).resolve()
+            if not dir_path.exists(): dir_path.mkdir()
             for i, img in enumerate(map_img_list):
-                img_path = path / Path("map{}.pgm".format(i))
+                img_path = dir_path / Path("map{}.pgm".format(i))
                 img.save(str(img_path.resolve()))
                 map_yaml_list[i]["image"] = "./"+str(img_path.name)
                 str_yaml = ""
@@ -183,27 +160,23 @@
                     str_yaml += "{}: {}".format(key, val) + line
                 with open(str(img_path.with_suffix(".yaml")), 'w') as f:
                     f.write(str_yaml)
-            # each waypoints
-            for i, str_yaml in enumerate(wp_yaml_list):
-                p = path / Path("waypoints{}.yaml".format(i))
-                with open(str(p.resolve()), 'w') as f:
-                    f.write(str_yaml) 
 
             # merged waypoints
-            path = tbox2.get()
-            with open(path, 'w') as f:
+            wp_filepath = dir_path / Path("waypoints.yaml")
+            with open(wp_filepath, 'w') as f:
                 f.write(wp_yaml)
             
             # merged map (yaml, pgm)
-            path = Path(tbox3.get()).resolve()
-            merged_yaml["image"] = "./" + str(path.with_suffix(".pgm").name)
+            yaml_path = dir_path / Path("merged_map.yaml")
+            img_path = yaml_path.with_suffix(".pgm")
+            merged_yaml["image"] = "./" + str(img_path.name)
             str_yaml = ""
             line = "\n"
             for key, val in merged_yaml.items():
                 str_yaml += "{}: {}".format(key, val) + line
-            with open(str(path.with_suffix(".yaml")), 'w') as f:
+            with open(str(yaml_path), 'w') as f:
                 f.write(str_yaml)
-            merged_img_pil.save(str(path.with_suffix(".pgm")))
+            merged_img_pil.save(str(img_path))
             win.destroy()
             return
 
diff --git a/apps/mylib/mapdisp.py b/apps/mylib/mapdisp.py
index 84ddfa7..d04627a 100644
--- a/apps/mylib/mapdisp.py
+++ b/apps/mylib/mapdisp.py
@@ -1,9 +1,18 @@
 import tkinter as tk
 import numpy as np
 import math
+import ruamel.yaml
 from PIL import Image, ImageTk
 from pathlib import Path
-from mylib.waypointlib import WaypointList, FinishPose
+from .waypointlib import WaypointList, FinishPose
+
+
+
+def read_file(path: Path):
+    with open(path) as file:   # .yamlを読み込む
+        yaml = ruamel.yaml.YAML().load(file)
+    return yaml
+
 
 
 class MyMap():
@@ -118,6 +127,7 @@
 
 
 
+
 class MapDisplay(tk.Frame):
 
     def __init__(self, master, theme, **kwargs):
@@ -144,7 +154,6 @@
         self.rotate_center = None
         self.old_map_rot = None
         self.selected_map_key = None
-        self.selected_map_center = None
         self.mode = 0
         self.base_map_key = ""
         self.point_rad = 5
@@ -157,7 +166,7 @@
 
 
 
-    def add_map(self, path: Path, map_yaml, waypoints_yaml: Path, base=False):
+    def add_map(self, path: Path, map_yaml, waypoints_yaml, base=False):
         key = self.path2key(path)
         if key in self.map_dict.keys():
             return False
@@ -183,8 +192,6 @@
             base_map: MyMap = self.map_dict[self.base_map_key]
             img_x, img_y = base_map.real2image(new_map.origin[0], new_map.origin[1])
             offset_x, offset_y = base_map.transform(img_x, img_y-img_h)
-            # offset_x = (self.canv_w - img_w*scale) / 2
-            # offset_y = (self.canv_h - img_h*scale) / 2
 
         new_map.scale_at(0, 0, scale)
         new_map.translate(offset_x, offset_y)
@@ -202,7 +209,7 @@
     
 
     def plot_origin(self):
-        base_map = self.map_dict[self.base_map_key]
+        base_map: MyMap = self.map_dict[self.base_map_key]
         canv_origin = base_map.transform(base_map.img_origin[0], base_map.img_origin[1])
         r = self.point_rad
         x1 = canv_origin[0] - r
@@ -220,7 +227,7 @@
     def plot_waypoints(self):
         for key, wp_list in self.waypoints_dict.items():
             if key[-2:] == "fp":
-                finish_pose = self.waypoints_dict[key]
+                finish_pose: FinishPose = self.waypoints_dict[key]
                 img_x, img_y = self.map_dict[key[:-2]].real2image(finish_pose.x, finish_pose.y)
                 cx, cy = self.map_dict[key[:-2]].transform(img_x, img_y)
                 th = finish_pose.yaw - self.map_dict[key[:-2]].get_rotate_angle()
@@ -238,7 +245,7 @@
             
             if len(wp_list.get_id_list()) == 0: # 初めて描画する
                 for n, wp in enumerate(wp_list.get_waypoint()):
-                    id = self.create_waypoint(wp, self.map_dict[key])
+                    id = self.create_waypoint(key, wp, self.map_dict[key])
                     self.waypoints_dict[key].set_id(n+1, id)
             else:
                 for id in wp_list.get_id_list():
@@ -251,7 +258,7 @@
         return
     
 
-    def create_waypoint(self, waypoint: dict, mymap: MyMap):
+    def create_waypoint(self, key, waypoint: dict, mymap: MyMap):
         img_x, img_y = mymap.real2image(float(waypoint["x"]), float(waypoint["y"]))
         cx, cy = mymap.transform(img_x, img_y)
         r = self.point_rad-1
@@ -259,7 +266,7 @@
         y0 = round(cy - r)
         x1 = round(cx + r + 1)
         y1 = round(cy + r + 1)
-        id = self.canvas.create_oval(x0, y0, x1, y1, fill='#F88', outline='#F88')
+        id = self.canvas.create_oval(x0, y0, x1, y1, fill='#F88', outline='#F88', tags=key+"wp")
         return id
 
 
@@ -279,8 +286,10 @@
             self.canvas.create_polygon(polygon, tags="selection_frame", fill="", outline="#FF0", dash=(5,3), width=5)
         self.canvas.lift(self.selected_map_key)
         self.canvas.lift("selection_frame")
-        self.canvas.lift("origin", self.selected_map_key)
-        self.plot_waypoints()
+        self.canvas.lift(self.selected_map_key+"wp")
+        self.canvas.lift(self.selected_map_key+"fp")
+        self.canvas.lift("origin")
+        # self.plot_waypoints()
         return
     
 
@@ -288,8 +297,12 @@
         key = self.path2key(path)
         if vision:
             self.canvas.itemconfigure(key, state=tk.NORMAL)
+            self.canvas.itemconfigure(key+"wp", state=tk.NORMAL)
+            self.canvas.itemconfigure(key+"fp", state=tk.NORMAL)
         else:
             self.canvas.itemconfigure(key, state=tk.HIDDEN)
+            self.canvas.itemconfigure(key+"wp", state=tk.HIDDEN)
+            self.canvas.itemconfigure(key+"fp", state=tk.HIDDEN)
 
     
 
diff --git a/apps/mylib/tools.py b/apps/mylib/tools.py
index 1380669..90736c3 100644
--- a/apps/mylib/tools.py
+++ b/apps/mylib/tools.py
@@ -2,6 +2,7 @@
 import numpy as np
 import ruamel.yaml
 import math
+from tkinter import messagebox
 from PIL import Image, ImageTk
 from pathlib import Path
 from .mapdisp import MapDisplay, MyMap
@@ -9,6 +10,13 @@
 
 
 
+def read_file(path: Path):
+    with open(path) as file:   # .yamlを読み込む
+        yaml = ruamel.yaml.YAML().load(file)
+    return yaml
+
+
+
 class LayerLabel(tk.Label):
 
     def __init__(self, master, *args, **kwargs):
@@ -16,6 +24,7 @@
         self.map_path = Path()
         self.map_transparency = tk.IntVar()
         self.map_transparency.set(100)
+        self.state = "unlocked"
 
     
     def set_map_path(self, path: Path):
@@ -51,17 +60,29 @@
         self.rot_btn.bind("<Leave>", lambda event, btn=self.rot_btn: self.btn_leave(event, btn))
         self.rot_btn.bind("<Button-1>", lambda event, btn=self.rot_btn, mode="rotate": self.btn_clicked(event, btn, mode))
         self.rot_btn.grid(column=1, row=0)
+        ## lock, unlock ボタン
+        icon = Image.open(Path(__file__).parent.parent / Path("icon","locked_button.png"))
+        icon = icon.resize((30,30))
+        self.locked_icon = ImageTk.PhotoImage(image=icon)
+        icon = Image.open(Path(__file__).parent.parent / Path("icon","unlocked_button.png"))
+        icon = icon.resize((30,30))
+        self.unlocked_icon = ImageTk.PhotoImage(image=icon)
+        self.lock_btn = tk.Label(self.btn_frame, image=self.unlocked_icon, bg=theme["main"])
+        self.lock_btn.bind("<Enter>", lambda event, btn=self.lock_btn: self.btn_entry(event, btn))
+        self.lock_btn.bind("<Leave>", lambda event, btn=self.lock_btn: self.btn_leave(event, btn))
+        self.lock_btn.bind("<Button-1>", self.lock_btn_clicked)
+        self.lock_btn.grid(column=0, row=1)
         ## 余白
         space = tk.Frame(self, height=100, bg=theme["main"])
         space.pack(expand=False, fill=tk.X)
 
-        #### レイヤーリストを表示 ####
+        #### マップリストを表示 ####
         ## アイコン
-        icon = Image.open(Path(__file__).parent.parent / Path("icon","layer.png"))
-        icon = icon.resize((20, 17))
+        icon = Image.open(Path(__file__).parent.parent / Path("icon","maps.png"))
+        icon = icon.resize((20, 20))
         self.layer_icon = ImageTk.PhotoImage(image=icon)
         layer_label = tk.Label(self, bg=theme["bg1"],
-            text="  Layers", fg="white", font=("Arial",11,"bold"),
+            text="  Maps", fg="white", font=("Arial",11,"bold"),
             image=self.layer_icon, compound=tk.LEFT
         )
         layer_label.pack(expand=False, anchor=tk.W, ipadx=3, ipady=2, padx=5)
@@ -111,6 +132,7 @@
 
     def btn_clicked(self, event, btn: tk.Label, mode):
         if (len(self.label_list) == 0) or (self.selected_layer == self.base_map_layer): return
+        if self.selected_layer.state == "locked": return
         if btn.cget("bg") == "black":
             self.map_disp.mode = self.map_disp.Normal
             btn.configure(bg="#333")
@@ -123,36 +145,116 @@
         elif mode == "rotate": self.map_disp.mode = self.map_disp.RotateSelected
         btn.configure(bg="black")
         return
+    
+
+    def lock_btn_clicked(self, event):
+        if (len(self.label_list) == 0) or (self.selected_layer == self.base_map_layer): return
+        if self.lock_btn.cget("bg") == "black":
+            self.lock_btn.configure(image=self.unlocked_icon, bg=self.theme["main"])
+            self.selected_layer.state = "unlocked"
+        else:
+            self.lock_btn.configure(image=self.locked_icon, bg="black")
+            self.selected_layer.state = "locked"
+        return
 
 
     
     def set_base_map(self, map_path: Path, wp_path: Path):
-        map_yaml = self.read_file(map_path)
-        if not ("image" in map_yaml): return
-        wp_yaml = self.read_file(wp_path)
-        if not ("waypoints" in wp_yaml): return
-        self.map_disp.add_map(map_path, map_yaml, wp_yaml, base=True)
+        map_yaml = read_file(map_path)
+        if not ("image" in map_yaml):
+            messagebox.showerror(title="Format error", message="Selected map file is unexpected format.")
+            return False
+        wp_yaml = read_file(wp_path)
+        if (not "waypoints" in wp_yaml) or (not "finish_pose" in wp_yaml):
+            messagebox.showerror(title="Format error", message="Selected waypoints file is unexpected format.")
+            return False
+        try:
+            self.map_disp.add_map(map_path, map_yaml, wp_yaml, base=True)
+        except (FileNotFoundError, FileExistsError):
+            messagebox.showerror(title="Image file is not found", message="\""+map_yaml["image"]+"\"  is not found.")
+            return False
         self.append_layer(map_path, base=True)
+        self.base_map_layer.state = "locked"
+        self.lock_btn.configure(image=self.locked_icon, bg="black")
         self.base_waypoints_path = wp_path
-        return
+        return True
 
     
     def add_map(self, path: Path, wp_path: Path):
-        map_yaml = self.read_file(path)
-        if not ("image" in map_yaml): return
-        wp_yaml = self.read_file(wp_path)
-        if not ("waypoints" in wp_yaml): return
-        if self.map_disp.add_map(path, map_yaml, wp_yaml):
-            self.append_layer(path)
-        else:
-            print("Selected map is already exist")
-        return
+        map_yaml = read_file(path)
+        if not ("image" in map_yaml):
+            messagebox.showerror(title="Format error", message="Selected map file is unexpected format.")
+            return False
+        wp_yaml = read_file(wp_path)
+        if (not "waypoints" in wp_yaml) or (not "finish_pose" in wp_yaml):
+            messagebox.showerror(title="Format error", message="Selected waypoints file is unexpected format.")
+            return False
+        try:
+            if self.map_disp.add_map(path, map_yaml, wp_yaml):
+                self.append_layer(path)
+            else:
+                i = 2
+                path2 = path.with_name(path.with_suffix("").name + "-" + str(i))
+                while(not self.map_disp.add_map(path2, map_yaml, wp_yaml)):
+                    i += 1
+                    path2 = path.with_name(path.with_suffix("").name + "-" + str(i))
+                self.append_layer(path2)
+                path = path2
+        except (FileNotFoundError, FileExistsError):
+            messagebox.showerror(title="Image file is not found", message="\""+map_yaml["image"]+"\"  is not found.")
+            return False
+        self.selected_layer.map_transparency.set(70)
+        self.map_disp.set_transparency(path, 70)
+        self.tra_bar.configure(variable=self.selected_layer.map_transparency)
+        return True
     
 
-    def read_file(self, path: Path):
-        with open(path) as file:   # .yamlを読み込む
-            yaml = ruamel.yaml.YAML().load(file)
-        return yaml
+    def set_multimaps(self, dirpath: Path, wp_path: Path):
+        all_wp_yaml = read_file(wp_path)
+        if (not "waypoints" in wp_yaml) or (not "finish_pose" in wp_yaml):
+            messagebox.showerror(title="Format error", message="Selected waypoints file is unexpected format.")
+            return False
+        map_idx = 0
+        wp_idx = 0
+        while(True):
+            map_path = dirpath / Path("map{}.yaml".format(map_idx))
+            if (not map_path.exists()) or (wp_idx >= len(all_wp_yaml["waypoints"])): break
+            map_yaml = read_file(map_path)
+            wp_yaml = {"waypoints":[]}
+            while(True):
+                if wp_idx >= len(all_wp_yaml["waypoints"]):
+                    wp_yaml["finish_pose"] = all_wp_yaml["finish_pose"]
+                    break
+                point = all_wp_yaml["waypoints"][wp_idx]
+                if not "change_map" in point["point"].keys():
+                    wp_yaml["waypoints"].append(point)
+                    wp_idx += 1
+                else:
+                    finish_pose = point["point"]
+                    wp_yaml["finish_pose"] = {
+                        "header":{"seq":0, "stamp":0, "frame_id":"map"},
+                        "pose":{
+                            "position":{"x":finish_pose["x"], "y":finish_pose["y"], "z":finish_pose["z"]},
+                            "orientation":{"x":0, "y":0, "z":0, "w":1}
+                        }
+                    }
+                    break
+            if map_idx==0:
+                self.map_disp.add_map(map_path, map_yaml, wp_yaml, base=True)
+                self.append_layer(map_path, base=True)
+                self.base_map_layer.state = "locked"
+                self.lock_btn.configure(image=self.locked_icon, bg="black")
+                self.base_waypoints_path = wp_path
+            else:
+                self.map_disp.add_map(map_path, map_yaml, wp_yaml)
+                self.append_layer(map_path)
+                self.selected_layer.map_transparency.set(70)
+                self.map_disp.set_transparency(map_path, 70)
+                self.tra_bar.configure(variable=self.selected_layer.map_transparency)
+            map_idx += 1
+            wp_idx += 1
+
+        return True
 
     
     def append_layer(self, path: Path, base=None):
@@ -176,6 +278,7 @@
             self.selected_layer.configure(bg=self.theme["bg1"])
         self.selected_layer = label
         self.tra_bar.configure(variable=self.selected_layer.map_transparency, state=tk.NORMAL)
+        self.lock_btn.configure(image=self.unlocked_icon, bg=self.theme["main"])
         self.label_list.append(label)
         if base: self.base_map_layer = label
         return
@@ -193,7 +296,6 @@
             else:
                 label.configure(image=self.visible_icon, fg="white")
                 self.map_disp.set_vision_state(label.map_path, vision=True)
-            return
         
         if label != self.selected_layer:
             self.selected_layer.configure(bg=self.theme["bg1"])
@@ -201,6 +303,15 @@
             self.selected_layer = label
             self.tra_bar.configure(variable=self.selected_layer.map_transparency)
             self.map_disp.select_map(self.selected_layer.map_path)
+            for btn in [self.move_btn, self.rot_btn]:
+                if btn.cget("bg") == "black":
+                    self.map_disp.mode = self.map_disp.Normal
+                    btn.configure(bg=self.theme["main"])
+                    break
+            if self.selected_layer.state == "locked":
+                self.lock_btn.configure(image=self.locked_icon, bg="black")
+            else:
+                self.lock_btn.configure(image=self.unlocked_icon, bg=self.theme["main"])
         return
 
 
@@ -210,29 +321,6 @@
         return
     
 
-    # def get_multimap_yaml(self):
-    #     base_map: MyMap = self.map_disp.map_dict[self.map_disp.base_map_key]
-    #     line = "\n"
-    #     yaml = "multimap:" + line
-    #     name = "multi"
-    #     for label in self.label_list:
-    #         yaml += "- map:" + line
-    #         mymap: MyMap = self.map_disp.get_map(label.map_path)
-    #         for key, val in mymap.map_yaml.items():
-    #             if key == "image": val = str(mymap.img_path)
-    #             if key == "origin":
-    #                 corners = mymap.get_corners()
-    #                 img_x, img_y = base_map.inv_transform(corners[6],corners[7])
-    #                 real_x, real_y = base_map.image2real(img_x, img_y)
-    #                 theta = mymap.get_rotate_angle()
-    #                 val = [real_x, real_y, theta]
-    #             yaml += "    " + key + ": " + str(val) + line
-    #         yaml += "    change_point: " + line
-    #         name += "-" + mymap.yaml_path.with_suffix("").name
-    #     init_path = base_map.yaml_path.with_name(name+".yaml").resolve()
-    #     return yaml, init_path
-    
-
     def get_map_lists(self):
         base_map: MyMap = self.map_disp.map_dict[self.map_disp.base_map_key]
         base_yaml = base_map.map_yaml
@@ -254,8 +342,7 @@
             real_x, real_y = base_map.image2real(img_x, img_y)
             yaml["origin"] = [real_x, real_y, 0.0]
             yaml_list.append(yaml)
-        init_path = base_map.yaml_path.resolve().parent
-        return img_list, yaml_list, init_path
+        return img_list, yaml_list
     
 
     def get_waypoints_yaml(self):
@@ -312,8 +399,7 @@
                 wpc["stop"] = "true"
                 wpc["change_map"] = "true"
                 waypoints.append(wpc)
-        init_path = self.base_waypoints_path.with_name(name+".yaml").resolve()
-        return get_waypoint_yaml(waypoints, finish_pose), wp_yaml_list, init_path
+        return get_waypoint_yaml(waypoints, finish_pose), wp_yaml_list
     
 
     def get_merged_map(self):
@@ -337,7 +423,7 @@
         right = img_corners[:, [0, 2, 4, 6]].max()
         lower = img_corners[:, [1, 3, 5, 7]].max()
         # 合成後の画像を準備
-        offset = 2  # 結合時の大きさの不揃いを解消
+        offset = 2  # 結合時の画像サイズの不揃いを解消
         img_size = (int(round(lower-upper)+offset), int(round(right-left)+offset)) #(y, x)
         unknown = np.full(img_size, 205, dtype=np.uint8) # 未確定領域
         obstacles = np.full(img_size, 255, dtype=np.uint8) # 障害物が0, それ以外が255
@@ -379,6 +465,5 @@
             "occupied_thresh":base_map.map_yaml["occupied_thresh"],
             "free_thresh":base_map.map_yaml["free_thresh"]
         }
-        init_path = base_map.yaml_path.with_name(name).resolve()
-        return merged_img, merged_yaml, init_path
+        return merged_img, merged_yaml
     
diff --git a/scripts/map_changer b/scripts/map_changer
index 10e3792..f73f36a 100755
--- a/scripts/map_changer
+++ b/scripts/map_changer
@@ -6,6 +6,7 @@
 from std_msgs.msg import UInt16
 from nav_msgs.srv import LoadMap
 from std_srvs.srv import Empty
+from std_srvs.srv import Trigger
 
 
 
@@ -32,6 +33,8 @@
         ## Service clients
         self.change_map = rospy.ServiceProxy("/change_map", LoadMap)
         self.amcl_update = rospy.ServiceProxy("/request_nomotion_update", Empty)
+        self.stop_nav = rospy.ServiceProxy("/stop_wp_nav", Trigger)
+        self.resume_nav = rospy.ServiceProxy("/resume_nav", Trigger)
         return
     
 
@@ -45,6 +48,8 @@
 
 
     def change_map_service_call(self):
+        self.stop_nav()
+        rospy.sleep(0.5)
         self.update_amcl_call()
         rospy.wait_for_service("/change_map")
         try:
@@ -52,6 +57,7 @@
             if res.result == 0:
                 rospy.loginfo("Successfully changed the map")
                 self.update_amcl_call()
+                self.resume_nav()
                 return True
             else:
                 rospy.logerr("Failed to change the map: result=", res.result)
@@ -63,9 +69,10 @@
 
     def update_amcl_call(self):
         rospy.wait_for_service("/request_nomotion_update")
-        for i in range(0,5):
+        for i in range(0, 5):
             self.amcl_update()
             rospy.sleep(0.5)
+        rospy.loginfo("Update amcl pose 5 times")