diff --git a/waypoint_nav/map/mymap.pgm b/waypoint_nav/map/mymap.pgm
deleted file mode 100644
index 26ecee0..0000000
--- a/waypoint_nav/map/mymap.pgm
+++ /dev/null
Binary files differ
diff --git a/waypoint_nav/maps/map.pgm b/waypoint_nav/maps/map.pgm
new file mode 100644
index 0000000..10700a1
--- /dev/null
+++ b/waypoint_nav/maps/map.pgm
Binary files differ
diff --git a/waypoint_nav/maps/map.yaml b/waypoint_nav/maps/map.yaml
new file mode 100644
index 0000000..8cf0bd4
--- /dev/null
+++ b/waypoint_nav/maps/map.yaml
@@ -0,0 +1,7 @@
+image: ./map.pgm
+resolution: 0.050000
+origin: [-10.000000, -10.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+
diff --git a/waypoint_nav/param/waypoints.yaml b/waypoint_nav/param/waypoints.yaml
index 96e2676..efa7a38 100644
--- a/waypoint_nav/param/waypoints.yaml
+++ b/waypoint_nav/param/waypoints.yaml
@@ -1,13 +1,10 @@
 waypoints:
-- point: {x: -8.729468527653239, y: 0.27403092325199907, z: 0.0}
-- point: {x: -2.4868552877312595, y: -4.692719756685904, z: 0.0}
-- point: {x: 2.8899940722015174, y: -5.102818436680778, z: 0.0}
-- point: {x: 14.363099999999989, y: 0.3898580000000038, z: 0.0}
-- point: {x: 16.024200000000008, y: 2.0383000000000067, z: 0.0}
-- point: {x: 16.2397, y: 8.29131000000001, z: 0.0}
-- point: {x: 16.376199999999997, y: 12.534899999999993, z: 0.0}
+- point: {x: -0.996902, y: -0.499032, z: 0.0, vel: 1.0, rad:0.5}
+- point: {x: 0.203745, y: -0.496466, z: 0.0, vel: 0.5, rad:0.2}
+- point: {x: 0.666450, y: 0.504773, z: 0.0, vel: 0.5, rad:0.3}
+- point: {x: 0.515219, y: 0.515219, z: 0.0, vel: 1.0, rad:0.5}
 finish_pose:
-  header: {seq: 0.0, stamp: 1.6203674303803937E9, frame_id: hokuyo_link}
+  header: {seq: 0.0, stamp: 1.6203674303803937E9, frame_id: base_link}
   pose:
-    position: {x: 1.41991, y: 0.45038, z: 0.0}
-    orientation: {x: 0.0, y: 0.0, z: -0.705545, w: 0.708666}
+    position: {x: -0.550981, y: -0.550981, z: 0.0}
+    orientation: {x: 0.0, y: 0.0, z: 0.99749, w: 0.07074}