diff --git a/waypoint_manager/launch/start_manager.launch b/waypoint_manager/launch/start_manager.launch
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/waypoint_manager/launch/start_manager.launch
diff --git a/waypoint_manager/scripts/manager_GUI.py b/waypoint_manager/scripts/manager_GUI.py
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/waypoint_manager/scripts/manager_GUI.py
diff --git a/waypoint_nav/include/waypoint_nav.h b/waypoint_nav/include/waypoint_nav.h
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/waypoint_nav/include/waypoint_nav.h
diff --git a/waypoint_nav/launch/waypoint_nav.launch b/waypoint_nav/launch/waypoint_nav.launch
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/waypoint_nav/launch/waypoint_nav.launch
diff --git a/waypoint_nav/map/mymap.pgm b/waypoint_nav/map/mymap.pgm
new file mode 100644
index 0000000..26ecee0
--- /dev/null
+++ b/waypoint_nav/map/mymap.pgm
Binary files differ
diff --git a/waypoint_nav/param/waypoints.yaml b/waypoint_nav/param/waypoints.yaml
new file mode 100644
index 0000000..96e2676
--- /dev/null
+++ b/waypoint_nav/param/waypoints.yaml
@@ -0,0 +1,13 @@
+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}
+finish_pose:
+  header: {seq: 0.0, stamp: 1.6203674303803937E9, frame_id: hokuyo_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}
diff --git a/waypoint_nav/src/waypoint_nav.cpp b/waypoint_nav/src/waypoint_nav.cpp
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/waypoint_nav/src/waypoint_nav.cpp
diff --git a/waypoint_saver/include/waypoint_saver.h b/waypoint_saver/include/waypoint_saver.h
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/waypoint_saver/include/waypoint_saver.h
diff --git a/waypoint_saver/launch/waypoint_saver.launch b/waypoint_saver/launch/waypoint_saver.launch
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/waypoint_saver/launch/waypoint_saver.launch
diff --git a/waypoint_saver/src/waypoint_saver.cpp b/waypoint_saver/src/waypoint_saver.cpp
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/waypoint_saver/src/waypoint_saver.cpp