diff --git a/waypoint_manager/scripts/lib/__pycache__/__init__.cpython-38.pyc b/waypoint_manager/scripts/lib/__pycache__/__init__.cpython-38.pyc
index 5902db6..0c2bd2a 100644
--- a/waypoint_manager/scripts/lib/__pycache__/__init__.cpython-38.pyc
+++ b/waypoint_manager/scripts/lib/__pycache__/__init__.cpython-38.pyc
Binary files differ
diff --git a/waypoint_manager/scripts/lib/__pycache__/mymaplib.cpython-38.pyc b/waypoint_manager/scripts/lib/__pycache__/mymaplib.cpython-38.pyc
index 58d700d..f4e3611 100644
--- a/waypoint_manager/scripts/lib/__pycache__/mymaplib.cpython-38.pyc
+++ b/waypoint_manager/scripts/lib/__pycache__/mymaplib.cpython-38.pyc
Binary files differ
diff --git a/waypoint_manager/scripts/lib/__pycache__/waypointlib.cpython-38.pyc b/waypoint_manager/scripts/lib/__pycache__/waypointlib.cpython-38.pyc
index fce0978..88c98f6 100644
--- a/waypoint_manager/scripts/lib/__pycache__/waypointlib.cpython-38.pyc
+++ b/waypoint_manager/scripts/lib/__pycache__/waypointlib.cpython-38.pyc
Binary files differ
diff --git a/waypoint_manager/scripts/manager_GUI.py b/waypoint_manager/scripts/manager_GUI.py
index d8b6f5b..718abae 100755
--- a/waypoint_manager/scripts/manager_GUI.py
+++ b/waypoint_manager/scripts/manager_GUI.py
@@ -46,7 +46,7 @@
         self.menu_bar.add_cascade(label="View", menu=self.show_menu)
         self.bind_all("<Control-f>", self.menu_show_footprint)
 
-        self.master.config(menu=self.menu_bar)   # 大元に作成したメニューバーを設定
+        self.master.configure(menu=self.menu_bar)   # 大元に作成したメニューバーを設定
 
         #### 画面上部に、システムからのメッセージを表示するラベルを配置 ####
         self.msg_label = tk.Label(self.master, text="Please open map file ", anchor=tk.E)
diff --git a/waypoint_nav/param/test.yaml b/waypoint_nav/param/test.yaml
new file mode 100644
index 0000000..4c9e554
--- /dev/null
+++ b/waypoint_nav/param/test.yaml
@@ -0,0 +1,15 @@
+waypoints:
+- point: {x: -1.094477, y: -0.52293, z: 0.0, vel: 1.0, rad: 0.3, stop: false}
+- point: {x: -0.468387, y: -0.529642, z: 0.0, vel: 1.0, rad: 0.3, stop: false}
+- point: {x: -0.497908, y: -1.858082, z: 0.0, vel: 1.0, rad: 0.5, stop: false}
+- point: {x: 0.505803, y: -1.841213, z: 0.0, vel: 1.0, rad: 0.8, stop: false}
+- point: {x: 0.592677, y: -0.561608, z: 0.0, vel: 0.8, rad: 0.2, stop: false}
+- point: {x: 1.753362, y: -0.536894, z: 0.0, vel: 1.0, rad: 0.3, stop: true}
+- point: {x: 1.749741, y: 0.526376, z: 0.0, vel: 1.0, rad: 0.3, stop: false}
+- point: {x: 0.631463, y: 0.530001, z: 0.0, vel: 0.5, rad: 0.3, stop: true}
+- point: {x: 0.629175, y: 1.860692, z: 0.0, vel: 0.5, rad: 0.2, stop: false}
+finish_pose:
+  header: {seq: 0.0, stamp: 1620367430.3803937, frame_id: base_link}
+  pose:
+    position: {x: -0.550981, y: 1.85, 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/test2.yaml b/waypoint_nav/param/test2.yaml
new file mode 100644
index 0000000..3463e52
--- /dev/null
+++ b/waypoint_nav/param/test2.yaml
@@ -0,0 +1,11 @@
+waypoints:
+- point: {x: -0.996902, y: -0.499032, z: 0.0, vel: 1.0, rad: 0.3}
+- point: {x: -0.188321, y: -0.510442, z: 0.0, vel: 1.0, rad: 0.3}
+- point: {x: 0.568284, y: -0.501916, z: 0.0, vel: 0.8, rad: 0.2}
+- point: {x: 0.631463, y: 0.530001, z: 0.0, vel: 0.5, rad: 0.3}
+- point: {x: 0.629175, y: 1.860692, z: 0.0, vel: 0.5, rad: 0.2}
+finish_pose:
+  header: {seq: 0.0, stamp: 1620367430.3803937, frame_id: base_link}
+  pose:
+    position: {x: -0.550981, y: 1.85, 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/test3.yaml b/waypoint_nav/param/test3.yaml
new file mode 100644
index 0000000..4d226ae
--- /dev/null
+++ b/waypoint_nav/param/test3.yaml
@@ -0,0 +1,11 @@
+waypoints:
+- point: {x: -1.094477, y: -0.52293, z: 0.0, vel: 1.0, rad: 0.3, stop: false}
+- point: {x: -0.23067, y: -0.546812, z: 0.0, vel: 1.0, rad: 0.5, stop: false}
+- point: {x: 0.578978, y: -0.568007, z: 0.0, vel: 0.8, rad: 0.2, stop: false}
+- point: {x: 0.631463, y: 0.530001, z: 0.0, vel: 0.5, rad: 0.3, stop: true}
+- point: {x: 0.629175, y: 1.860692, z: 0.0, vel: 0.5, rad: 0.2, stop: false}
+finish_pose:
+  header: {seq: 0.0, stamp: 1620367430.3803937, frame_id: base_link}
+  pose:
+    position: {x: -0.550981, y: 1.85, 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/test4.yaml b/waypoint_nav/param/test4.yaml
new file mode 100644
index 0000000..fb515e9
--- /dev/null
+++ b/waypoint_nav/param/test4.yaml
@@ -0,0 +1,11 @@
+waypoints:
+- point: {x: -1.789356, y: -0.636847, z: 0.0, vel: 1.0, rad: 0.3, stop: false}
+- point: {x: -1.052619, y: -1.811895, z: 0.0, vel: 1.0, rad: 0.5, stop: false}
+- point: {x: 0.542089, y: -1.86785, z: 0.0, vel: 0.8, rad: 0.2, stop: false}
+- point: {x: 0.551415, y: -0.105278, z: 0.0, vel: 0.5, rad: 0.3, stop: false}
+- point: {x: 0.629175, y: 1.860692, z: 0.0, vel: 0.5, rad: 0.2, stop: false}
+finish_pose:
+  header: {seq: 0.0, stamp: 1620367430.3803937, frame_id: base_link}
+  pose:
+    position: {x: -0.550981, y: 1.85, z: 0.0}
+    orientation: {x: 0.0, y: 0.0, z: 0.99749, w: 0.07074}
\ No newline at end of file