diff --git a/waypoint_manager/scripts/manager_GUI.py b/waypoint_manager/scripts/manager_GUI.py
index 802bca5..3424fba 100755
--- a/waypoint_manager/scripts/manager_GUI.py
+++ b/waypoint_manager/scripts/manager_GUI.py
@@ -39,6 +39,7 @@
 
         self.edit_menu = tk.Menu(self.menu_bar, tearoff=tk.OFF)
         self.edit_menu.add_command(label="Set Finish Pose", command=self.menu_set_finishpose)
+        self.edit_menu.add_command(label="From To", command=self.menu_from_to)
         self.menu_bar.add_cascade(label="Edit", menu=self.edit_menu)
 
         self.show_menu = tk.Menu(self.menu_bar, tearoff=tk.OFF)
@@ -137,6 +138,7 @@
             self.mymap = MyMap(Path(map_path), map_yaml)
         except FileNotFoundError:
             messagebox.showerror(title="Image file is not found", message="\""+map_yaml["image"]+"\"  is not found.")
+            self.mymap = None
             return
         self.message("Read map file " + map_path)
         self.canvas.delete("all")
@@ -282,6 +284,67 @@
         self.message("Click any point to set finsih pose. If you want to cancel, right click anywhere.")
         self.setting_finish_pose = 1
         return
+    
+
+    """
+    +++++  Edit -> From To +++++
+    """
+    def menu_from_to(self, event=None):
+        if not self.waypoints: return
+        sub_win = tk.Toplevel()
+        sub_win.title("Set parameter from some number's waypoint to any number's one")
+        sub_win.attributes('-topmost', True)  # サブウィンドウを最前面で固定
+        #
+        font = ("Consolas", 12)
+        frame1 = tk.Frame(sub_win)
+        from_label = tk.Label(frame1, text="From No.", font=font)
+        from_label.grid(row=0, column=0)
+        from_txt_box = tk.Entry(frame1, width=4, font=font)
+        from_txt_box.grid(row=0, column=1)
+        to_label = tk.Label(frame1, text="to No.", font=font)
+        to_label.grid(row=0, column=2)
+        to_txt_box = tk.Entry(frame1, width=4, font=font)
+        to_txt_box.grid(row=0, column=3)
+        frame1.pack(padx=10, pady=10)
+        #
+        frame2 = tk.Frame(sub_win)
+        name_label = tk.Label(frame2, text="Parameter", font=font)
+        name_label.grid(row=0, column=0)
+        value_label=tk.Label(frame2, text="Value", font=font)
+        value_label.grid(row=0, column=1)
+        name_txt_box = tk.Entry(frame2, width=20, font=font)
+        name_txt_box.grid(row=1, column=0, padx=20)
+        value_txt_box = tk.Entry(frame2, width=20, font=font)
+        value_txt_box.grid(row=1, column=1, padx=20)
+        frame2.pack(padx=10, pady=10)
+        #
+        def set_btn_callback():
+            from_num = from_txt_box.get()
+            to_num = to_txt_box.get()
+            if (len(from_num) == 0) or (len(to_num) == 0):
+                messagebox.showwarning(title="Warning", message="Enter waypoint numbers.")
+                return
+            from_num = int(from_num)
+            to_num = int(to_num)
+            if (from_num < 1) or (to_num > len(self.waypoints.get_waypoint())):
+                messagebox.showerror(title="Error", message="Entered number is out of range of the number of waypoints")
+                return
+            param = name_txt_box.get()
+            value = value_txt_box.get()
+            if (len(param) == 0) or (len(value) == 0):
+                messagebox.showwarning(title="Warning", message="Enter parameter name and value")
+                return
+            for n in range(from_num, to_num+1):
+                self.waypoints.waypoints[n-1][param] = value
+            sub_win.destroy()
+            return
+        frame3 = tk.Frame(sub_win)
+        set_btn = tk.Button(frame3, text="Set", width=5, command=set_btn_callback)
+        set_btn.pack(side=tk.RIGHT, padx=50, pady=10)
+        cancel_btn = tk.Button(frame3, text="Cancel", width=8, command=sub_win.destroy)
+        cancel_btn.pack(side=tk.LEFT, padx=50, pady=10)
+        frame3.pack(padx=10, pady=20, expand=True, fill=tk.X)
+        return
 
 
     """