diff --git a/waypoint_nav/launch/waypoint_nav.launch b/waypoint_nav/launch/waypoint_nav.launch
index 4c19747..b8127ff 100644
--- a/waypoint_nav/launch/waypoint_nav.launch
+++ b/waypoint_nav/launch/waypoint_nav.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-    <arg name="waypoints_file" default="$(find waypoint_nav)/param/waypoints.yaml"/>
+    <arg name="waypoints_file" default="$(find waypoint_nav)/waypoints_cfg/waypoints.yaml"/>
     <arg name="cmd_vel_topic_in" default="/move_base/cmd_vel"/>
     <arg name="cmd_vel_topic_out" default="/wp_nav/cmd_vel"/>
 
@@ -10,9 +10,9 @@
         <remap from="/cmd_vel" to="$(arg cmd_vel_topic_out)"/>
     </node>
 
+
     <node name="velocity_controller" pkg="waypoint_nav" type="velocity_controller" output="screen">
         <remap from="/cmd_vel_in" to="$(arg cmd_vel_topic_in)"/>
         <remap from="/cmd_vel_out" to="$(arg cmd_vel_topic_out)"/>
     </node>
-
 </launch>
\ No newline at end of file
diff --git a/waypoint_nav/param/test.yaml b/waypoint_nav/param/test.yaml
deleted file mode 100644
index faed547..0000000
--- a/waypoint_nav/param/test.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-waypoints:
-- point: {x: 0.5, y: 0, z: 0, vel: 1, rad: 0.8}
-finish_pose:
-  header: {seq: 0, stamp: 0.000000000, frame_id: }
-  pose: 
-    position: {x: 0, y: 0, z: 0}
-    orientation: {x: 0, y: 0, z: 0, w: 0}
diff --git a/waypoint_nav/param/waypoints.yaml b/waypoint_nav/param/waypoints.yaml
deleted file mode 100644
index 92f70d6..0000000
--- a/waypoint_nav/param/waypoints.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-waypoints:
-- point: {x: -0.45, y: -0.499032, z: 0.0, vel: 1.0, rad: 0.3, stop: false}
-- point: {x: 0.50, y: -0.576395, z: 0.0, vel: 0.5, rad: 0.1, stop: true}
-- point: {x: 0.50, y: 0.80, z: 0.0, vel: 1.0, rad: 0.3, stop: false}
-- point: {x: 0.515219, y: 1.8, z: 0.0, vel: 0.3, rad: 0.1, stop: true}
-finish_pose:
-  header: {seq: 0.0, stamp: 1620367430.3803937, frame_id: base_link}
-  pose:
-    position: {x: -0.550981, y: 1.8, z: 0.0}
-    orientation: {x: 0.0, y: 0.0, z: 0.99749, w: 0.07074}
\ No newline at end of file
diff --git a/waypoint_nav/param/waypoints_gakunai.yaml b/waypoint_nav/param/waypoints_gakunai.yaml
deleted file mode 100644
index 1b42abe..0000000
--- a/waypoint_nav/param/waypoints_gakunai.yaml
+++ /dev/null
@@ -1,27 +0,0 @@
-waypoints:
-- point: {x: 15.549, y: 1.99887, z: 0}
-- point: {x: 27.7033, y: 0.740999, z: 0}
-- point: {x: 44.367489, y: -3.73285, z: 0.0}
-- point: {x: 53.4473, y: -1.98026, z: 0}
-- point: {x: 53.5381, y: 13.9875, z: 0}
-- point: {x: 53.0202, y: 25.7033, z: 0}
-- point: {x: 52.624, y: 40.8326, z: 0}
-- point: {x: 52.4651, y: 56.1678, z: 0}
-- point: {x: 47.4651, y: 55.9678, z: 0}
-- point: {x: 41.1833, y: 55.7508, z: 0}
-- point: {x: 30.9773, y: 56.3972, z: 0}
-- point: {x: 19.605, y: 55.9349, z: 0}
-- point: {x: 9.74244, y: 57.775, z: 0}
-- point: {x: 9.04664, y: 53.1814, z: 0}
-- point: {x: 12.2474, y: 45.1187, z: 0}
-- point: {x: 17.5568, y: 32.2592, z: 0}
-- point: {x: 19.6331, y: 27.0299, z: 0}
-- point: {x: 23.7635, y: 17.3945, z: 0}
-- point: {x: 27.6797, y: 6.92171, z: 0}
-- point: {x: 29.8247, y: 1.30448, z: 0}
-- point: {x: 12.7818, y: 1.13019, z: 0}
-finish_pose:
-  header: {seq: 0, stamp: 1623386648.025251, frame_id: base_link}
-  pose:
-    position: {x: -0.8863756, y: 0.5020624, z: 0}
-    orientation: {x: 0, y: 0, z: 0.999797, w: -0.0201511}
\ No newline at end of file
diff --git a/waypoint_nav/param/waypoints_gakunai_edit.yaml b/waypoint_nav/param/waypoints_gakunai_edit.yaml
deleted file mode 100644
index 5d13f3a..0000000
--- a/waypoint_nav/param/waypoints_gakunai_edit.yaml
+++ /dev/null
@@ -1,27 +0,0 @@
-waypoints:
-- point: {x: 15.549, y: 1.99887, z: 0}
-- point: {x: 27.7033, y: 0.740999, z: 0}
-- point: {x: 44.5033, y: -3.88193, z: 0}
-- point: {x: 53.4473, y: -1.98026, z: 0}
-- point: {x: 53.5381, y: 13.9875, z: 0}
-- point: {x: 53.0202, y: 25.7033, z: 0}
-- point: {x: 52.624, y: 40.8326, z: 0}
-- point: {x: 52.4651, y: 56.1678, z: 0}
-- point: {x: 47.4651, y: 55.9678, z: 0}
-- point: {x: 41.1833, y: 55.7508, z: 0}
-- point: {x: 30.9773, y: 56.3972, z: 0}
-- point: {x: 19.605, y: 55.9349, z: 0}
-- point: {x: 9.74244, y: 57.775, z: 0}
-- point: {x: 9.04664, y: 53.1814, z: 0}
-- point: {x: 12.2474, y: 45.1187, z: 0}
-- point: {x: 17.5568, y: 32.2592, z: 0}
-- point: {x: 19.6331, y: 27.0299, z: 0}
-- point: {x: 23.7635, y: 17.3945, z: 0}
-- point: {x: 27.6797, y: 6.92171, z: 0}
-- point: {x: 29.8247, y: 1.30448, z: 0}
-- point: {x: 12.7818, y: 1.13019, z: 0}
-finish_pose:
-  header: {seq: 0, stamp: 1623386648.025251, frame_id: base_link}
-  pose:
-    position: {x: -0.8863756, y: 0.5020624, z: 0}
-    orientation: {x: 0, y: 0, z: 0.999797, w: -0.0201511}
\ No newline at end of file
diff --git a/waypoint_nav/rviz_cfg/x.rviz b/waypoint_nav/rviz_cfg/x.rviz
deleted file mode 100644
index baac67f..0000000
--- a/waypoint_nav/rviz_cfg/x.rviz
+++ /dev/null
@@ -1,205 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
-        - /LaserScan1
-        - /TF1
-      Splitter Ratio: 0.5
-    Tree Height: 786
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679016
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: LaserScan
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.0299999993
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Alpha: 0.699999988
-      Class: rviz/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: true
-      Name: Map
-      Topic: /map
-      Unreliable: false
-      Use Timestamp: false
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/LaserScan
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 11171
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: LaserScan
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.100000001
-      Style: Flat Squares
-      Topic: /scan
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: true
-        base_link:
-          Value: true
-        diagonally_hokuyo_link:
-          Value: true
-        hokuyo_link:
-          Value: true
-        imu_link:
-          Value: true
-        left_wheel:
-          Value: true
-        map:
-          Value: true
-        odom:
-          Value: true
-        right_wheel:
-          Value: true
-        visual_left_wheel:
-          Value: true
-        visual_right_wheel:
-          Value: true
-      Marker Scale: 5
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        map:
-          odom:
-            base_link:
-              diagonally_hokuyo_link:
-                {}
-              hokuyo_link:
-                {}
-              imu_link:
-                {}
-              left_wheel:
-                {}
-              right_wheel:
-                {}
-              visual_left_wheel:
-                {}
-              visual_right_wheel:
-                {}
-      Update Interval: 0
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Default Light: true
-    Fixed Frame: map
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/FocusCamera
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 16.4437809
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: -0.697737634
-        Y: -0.00101808389
-        Z: 0
-      Focal Shape Fixed Size: false
-      Focal Shape Size: 0.0500000007
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.730398357
-      Target Frame: base_link
-      Value: Orbit (rviz)
-      Yaw: 3.26039815
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 1059
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000167000003a0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000025000003a0000000d600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000025000003a0000000ab00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007490000003efc0100000002fb0000000800540069006d0065010000000000000749000002a400fffffffb0000000800540069006d00650100000000000004500000000000000000000004c9000003a000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1865
-  X: 55
-  Y: 21
diff --git a/waypoint_nav/waypoints_cfg/waypoints.yaml b/waypoint_nav/waypoints_cfg/waypoints.yaml
new file mode 100644
index 0000000..92f70d6
--- /dev/null
+++ b/waypoint_nav/waypoints_cfg/waypoints.yaml
@@ -0,0 +1,10 @@
+waypoints:
+- point: {x: -0.45, y: -0.499032, z: 0.0, vel: 1.0, rad: 0.3, stop: false}
+- point: {x: 0.50, y: -0.576395, z: 0.0, vel: 0.5, rad: 0.1, stop: true}
+- point: {x: 0.50, y: 0.80, z: 0.0, vel: 1.0, rad: 0.3, stop: false}
+- point: {x: 0.515219, y: 1.8, z: 0.0, vel: 0.3, rad: 0.1, stop: true}
+finish_pose:
+  header: {seq: 0.0, stamp: 1620367430.3803937, frame_id: base_link}
+  pose:
+    position: {x: -0.550981, y: 1.8, z: 0.0}
+    orientation: {x: 0.0, y: 0.0, z: 0.99749, w: 0.07074}
\ No newline at end of file
diff --git a/waypoint_nav/waypoints_cfg/waypoints_gakunai.yaml b/waypoint_nav/waypoints_cfg/waypoints_gakunai.yaml
new file mode 100644
index 0000000..1b42abe
--- /dev/null
+++ b/waypoint_nav/waypoints_cfg/waypoints_gakunai.yaml
@@ -0,0 +1,27 @@
+waypoints:
+- point: {x: 15.549, y: 1.99887, z: 0}
+- point: {x: 27.7033, y: 0.740999, z: 0}
+- point: {x: 44.367489, y: -3.73285, z: 0.0}
+- point: {x: 53.4473, y: -1.98026, z: 0}
+- point: {x: 53.5381, y: 13.9875, z: 0}
+- point: {x: 53.0202, y: 25.7033, z: 0}
+- point: {x: 52.624, y: 40.8326, z: 0}
+- point: {x: 52.4651, y: 56.1678, z: 0}
+- point: {x: 47.4651, y: 55.9678, z: 0}
+- point: {x: 41.1833, y: 55.7508, z: 0}
+- point: {x: 30.9773, y: 56.3972, z: 0}
+- point: {x: 19.605, y: 55.9349, z: 0}
+- point: {x: 9.74244, y: 57.775, z: 0}
+- point: {x: 9.04664, y: 53.1814, z: 0}
+- point: {x: 12.2474, y: 45.1187, z: 0}
+- point: {x: 17.5568, y: 32.2592, z: 0}
+- point: {x: 19.6331, y: 27.0299, z: 0}
+- point: {x: 23.7635, y: 17.3945, z: 0}
+- point: {x: 27.6797, y: 6.92171, z: 0}
+- point: {x: 29.8247, y: 1.30448, z: 0}
+- point: {x: 12.7818, y: 1.13019, z: 0}
+finish_pose:
+  header: {seq: 0, stamp: 1623386648.025251, frame_id: base_link}
+  pose:
+    position: {x: -0.8863756, y: 0.5020624, z: 0}
+    orientation: {x: 0, y: 0, z: 0.999797, w: -0.0201511}
\ No newline at end of file
diff --git a/waypoint_nav/waypoints_cfg/waypoints_gakunai_edit.yaml b/waypoint_nav/waypoints_cfg/waypoints_gakunai_edit.yaml
new file mode 100644
index 0000000..5d13f3a
--- /dev/null
+++ b/waypoint_nav/waypoints_cfg/waypoints_gakunai_edit.yaml
@@ -0,0 +1,27 @@
+waypoints:
+- point: {x: 15.549, y: 1.99887, z: 0}
+- point: {x: 27.7033, y: 0.740999, z: 0}
+- point: {x: 44.5033, y: -3.88193, z: 0}
+- point: {x: 53.4473, y: -1.98026, z: 0}
+- point: {x: 53.5381, y: 13.9875, z: 0}
+- point: {x: 53.0202, y: 25.7033, z: 0}
+- point: {x: 52.624, y: 40.8326, z: 0}
+- point: {x: 52.4651, y: 56.1678, z: 0}
+- point: {x: 47.4651, y: 55.9678, z: 0}
+- point: {x: 41.1833, y: 55.7508, z: 0}
+- point: {x: 30.9773, y: 56.3972, z: 0}
+- point: {x: 19.605, y: 55.9349, z: 0}
+- point: {x: 9.74244, y: 57.775, z: 0}
+- point: {x: 9.04664, y: 53.1814, z: 0}
+- point: {x: 12.2474, y: 45.1187, z: 0}
+- point: {x: 17.5568, y: 32.2592, z: 0}
+- point: {x: 19.6331, y: 27.0299, z: 0}
+- point: {x: 23.7635, y: 17.3945, z: 0}
+- point: {x: 27.6797, y: 6.92171, z: 0}
+- point: {x: 29.8247, y: 1.30448, z: 0}
+- point: {x: 12.7818, y: 1.13019, z: 0}
+finish_pose:
+  header: {seq: 0, stamp: 1623386648.025251, frame_id: base_link}
+  pose:
+    position: {x: -0.8863756, y: 0.5020624, z: 0}
+    orientation: {x: 0, y: 0, z: 0.999797, w: -0.0201511}
\ No newline at end of file