diff --git a/waypoint_manager/scripts/devel_GUI.py b/waypoint_manager/scripts/devel_GUI.py
index 1d40c7e..81e18d9 100755
--- a/waypoint_manager/scripts/devel_GUI.py
+++ b/waypoint_manager/scripts/devel_GUI.py
@@ -143,7 +143,7 @@
     --- 今はパスを直接指定して読み込んでいるので、rospy.get_param()を使って読み込めるように ---
     """
     def get_map_info(self):
-        map_path = Path('..','..','waypoint_nav','maps','map_gakunai')   # .pgmと.yamlの手前までのパス
+        map_path = Path('/home/ubuntu/catkin_ws/src/tsukuba2022/maps/mymap')   # .pgmと.yamlの手前までのパス
         map_img_pil = Image.open(Path(str(map_path)+'.pgm'))   # .pgmをplillowで読み込む
         with open(str(map_path)+'.yaml') as file:   # .yamlを読み込む
             map_yaml = ruamel.yaml.YAML().load(file)
@@ -157,7 +157,7 @@
     --- これもget_param()でパスを受け取り、読み込めるようにする ---
     """
     def get_waypoints(self):
-        file_path = Path('..','..','waypoint_nav','param','waypoints_gakunai.yaml')
+        file_path = Path('/home/ubuntu/catkin_ws/src/tsukuba2022/config/waypoints/waypoints.yaml')
         with open(file_path) as file:
             waypoints = ruamel.yaml.YAML().load(file)
         self.master.title(file_path.name + " - " + self.master.title())
diff --git a/waypoint_nav/launch/waypoint_nav.launch b/waypoint_nav/launch/waypoint_nav.launch
index b8127ff..4f5d4cb 100644
--- a/waypoint_nav/launch/waypoint_nav.launch
+++ b/waypoint_nav/launch/waypoint_nav.launch
@@ -3,10 +3,12 @@
     <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"/>
+    <arg name="robot_frame"       default="base_link"/>
 
 
     <node name="waypoint_nav" pkg="waypoint_nav" type="waypoint_nav" output="screen">
         <param name="filename" value="$(arg waypoints_file)"/>
+        <param name="robot_frame" value="$(arg robot_frame)"/>
         <remap from="/cmd_vel" to="$(arg cmd_vel_topic_out)"/>
     </node>
 
@@ -15,4 +17,4 @@
         <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
+</launch>
diff --git a/waypoint_nav/rviz_cfg/nav.rviz b/waypoint_nav/rviz_cfg/nav.rviz
index 4e51bd4..261f562 100644
--- a/waypoint_nav/rviz_cfg/nav.rviz
+++ b/waypoint_nav/rviz_cfg/nav.rviz
@@ -5,7 +5,7 @@
     Property Tree Widget:
       Expanded: ~
       Splitter Ratio: 0.5
-    Tree Height: 532
+    Tree Height: 694
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -21,7 +21,6 @@
     Name: Views
     Splitter Ratio: 0.5
   - Class: rviz/Time
-    Experimental: false
     Name: Time
     SyncMode: 0
     SyncSource: LaserScan
@@ -81,12 +80,7 @@
           Show Axes: false
           Show Trail: false
           Value: true
-        base_scan:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        caster_back_link:
+        hokuyo_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -95,12 +89,28 @@
           Alpha: 1
           Show Axes: false
           Show Trail: false
-        wheel_left_link:
+          Value: true
+        left_caster_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        wheel_right_link:
+        left_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_caster_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        velodyne_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -175,7 +185,7 @@
       Length: 0.30000001192092896
       Line Style: Lines
       Line Width: 0.029999999329447746
-      Name: Path
+      Name: Global Plan
       Offset:
         X: 0
         Y: 0
@@ -189,6 +199,30 @@
       Topic: /move_base/NavfnROS/plan
       Unreliable: false
       Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 255; 255; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Billboards
+      Line Width: 0.10000000149011612
+      Name: Local Plan
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Queue Size: 10
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic: /move_base/TrajectoryPlannerROS/local_plan
+      Unreliable: false
+      Value: true
     - Alpha: 0.699999988079071
       Class: rviz/Map
       Color Scheme: costmap
@@ -292,7 +326,7 @@
   Views:
     Current:
       Class: rviz/ThirdPersonFollower
-      Distance: 11.816969871520996
+      Distance: 35.39775466918945
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -300,25 +334,25 @@
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: -0.31653428077697754
-        Y: -0.3555675148963928
+        X: -0.3276565670967102
+        Y: -0.7599051594734192
         Z: 0
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.5697963237762451
+      Pitch: 0.904796838760376
       Target Frame: base_link
-      Yaw: 3.145397424697876
+      Yaw: 3.1003949642181396
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 778
+  Height: 957
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd000000040000000000000193000002affc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e00000251000000cb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000002200530074006100740065005400720069006700670065007200500061006e0065006c0100000295000000580000004100ffffff000000010000010f000002b3fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003e000002b3000000a500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005e00000003bfc0100000002fb0000000800540069006d00650000000000000005e00000046900fffffffb0000000800540069006d0065010000000000000450000000000000000000000376000002af00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000019300000362fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e000002f3000000cb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000002200530074006100740065005400720069006700670065007200500061006e0065006c0100000337000000690000004100ffffff000000010000010f000002b3fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003e000002b3000000a500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005e00000003bfc0100000002fb0000000800540069006d00650000000000000005e00000039300fffffffb0000000800540069006d00650100000000000004500000000000000000000004190000036200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   StateTriggerPanel:
@@ -329,6 +363,6 @@
     collapsed: false
   Views:
     collapsed: true
-  Width: 1295
-  X: -1
-  Y: -17
+  Width: 1458
+  X: 374
+  Y: -40
diff --git a/waypoint_nav/src/waypoint_nav.cpp b/waypoint_nav/src/waypoint_nav.cpp
index c4e74a0..33b2ff4 100644
--- a/waypoint_nav/src/waypoint_nav.cpp
+++ b/waypoint_nav/src/waypoint_nav.cpp
@@ -388,6 +388,7 @@
             }
             // go to current waypoint
             ROS_INFO_STREAM("Go to waypoint " << wp_num_.data);
+            ROS_INFO_STREAM("x: " << waypoint_list_[wp_num_.data-1].x << ", y: " << waypoint_list_[wp_num_.data-1].y);
             startNavigationGL(*current_waypoint_);
             int resend_goal = 0;
             double start_nav_time = ros::Time::now().toSec();
@@ -467,4 +468,4 @@
     w_nav.run();
 
     return 0;
-}
\ No newline at end of file
+}