diff --git a/scripts/map_changer b/scripts/map_changer
index be0a809..da454c2 100755
--- a/scripts/map_changer
+++ b/scripts/map_changer
@@ -3,8 +3,9 @@
 import numpy as np
 import ruamel.yaml
 from pathlib import Path
-from nav_msgs.srv import LoadMap
 from std_msgs.msg import UInt16
+from nav_msgs.srv import LoadMap
+from std_srvs.srv import Empty
 
 
 
@@ -28,6 +29,8 @@
         ## Subscribe current waypoint number
         self.waypoint_num = 0
         self.wp_num_sub = rospy.Subscriber("/waypoint_num", UInt16, self.waypoint_num_callback)
+        self.change_map = rospy.ServiceProxy("/change_map", LoadMap)
+        self.amcl_update = rospy.ServiceProxy("/request_nomotion_update", Empty)
         return
     
 
@@ -41,12 +44,13 @@
 
 
     def change_map_service_call(self):
+        self.update_amcl_call()
         rospy.wait_for_service("/change_map")
         try:
-            change_map = rospy.ServiceProxy("/change_map", LoadMap)
-            res = change_map(str(self.multimap_dir / Path("map{}.yaml".format(self.current_map_num))))
+            res = self.change_map(str(self.multimap_dir / Path("map{}.yaml".format(self.current_map_num))))
             if res.result == 0:
                 rospy.loginfo("Successfully changed the map")
+                self.update_amcl_call()
                 return True
             else:
                 rospy.logerr("Failed to change the map: result=", res.result)
@@ -54,6 +58,13 @@
         except rospy.ServiceException:
             rospy.logerr("Change map service call failed")
         return False
+    
+
+    def update_amcl_call(self):
+        rospy.wait_for_service("/request_nomotion_update")
+        for i in range(0,5):
+            self.amcl_update()
+            rospy.sleep(0.5)