diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml
index a1a4e36e9f..cb187aeaf5 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_teleop.xml
@@ -30,7 +30,7 @@
        joystick_teleop need to publish /teleop/cmd_vel/unsafe ,
        see https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/jsk_fetch_startup/README.md -->
   <node name="teleop" pkg="fetch_teleop" type="joystick_teleop" respawn="true">
-    <remap from="teleop/cmd_vel" to="/teleop/cmd_vel/unsafe" />
+    <remap from="teleop/cmd_vel" to="/joy_vel" />
     <remap from="/odom" to="$(arg odom_topic)" />
     <param name="arm/button_arm_linear" value="4"/>
     <param name="arm/button_arm_angular" value="6"/>
@@ -49,7 +49,7 @@
   <!-- Relay topic names according to system diagram -->
   <node name="relay_odom"
         pkg="topic_tools" type="relay"
-        args="/odom_combined /odom_teleop" />
+        args="$(arg odom_topic) /odom_teleop" />
   <node name="relay_navigation_cmd_vel"
         pkg="topic_tools" type="relay"
         args="/cmd_vel /navigation/cmd_vel" />
@@ -84,50 +84,6 @@
     <param name="tuck_button" value="5"/>
   </node>
 
-  <!-- safe teleop -->
-  <node name="unsafe_vel_mux" pkg="topic_tools" type="mux" respawn="true"
-	args="/teleop/cmd_vel /teleop/cmd_vel/safe /teleop/cmd_vel/unsafe">
-    <remap from="mux" to="unsafe_vel_mux" />
-  </node>
-
-  <!-- m.button[10]: L1 -->
-  <!-- m.button[9] : R2 -->
-  <!-- safe teleop with L1 -->
-  <node name="cmd_vel_mux_selector" pkg="jsk_robot_startup" type="mux_selector.py"
-	respawn="true"
-	args="/joy 'm.buttons[10]==1' /teleop/cmd_vel /cmd_vel 'True' /cmd_vel">
-    <remap from="mux" to="cmd_vel_mux" />
-    <param name="default_select" value="/cmd_vel" />
-  </node>
-
-  <!-- unsafe teleop with L1 and R2 -->
-  <node name="unsafe_vel_mux_selector" pkg="jsk_robot_startup" type="mux_selector.py"
-	respawn="true"
-	args="/joy 'm.buttons[10]==1 and m.buttons[9]==1' /teleop/cmd_vel/unsafe /joy 'm.buttons[10]==1 and m.buttons[9]==0' /teleop/cmd_vel/safe">
-    <remap from="mux" to="unsafe_vel_mux" />
-    <param name="default_select" value="/teleop/cmd_vel/safe" />
-  </node>
-
-  <node name="safe_teleop_base" pkg="safe_teleop_base" type="safe_teleop_base">
-    <remap from="base_velocity" to="/teleop/cmd_vel/unsafe" />
-    <remap from="~safe_vel"     to="/teleop/cmd_vel/safe" />
-    <remap from="/odom"         to="$(arg odom_topic)" />
-    <rosparam file="$(find fetch_navigation)/config/costmap_common.yaml" command="load" ns="local_costmap" />
-    <rosparam file="$(find fetch_navigation)/config/fetch/costmap_common.yaml" command="load" ns="local_costmap" />
-    <rosparam file="$(find fetch_navigation)/config/costmap_local.yaml" command="load" ns="local_costmap" />
-    <rosparam file="$(find fetch_navigation)/config/fetch/costmap_local.yaml" command="load" ns="local_costmap" />
-  </node>
-  <rosparam ns="safe_teleop_base/local_costmap">
-    inflater:
-      inflation_radius: 1.0 # 0.7
-      cost_scaling_factor: 3.0 # 25.0 default 10, increasing factor decrease the cost value
-    obstacles:
-      min_obstacle_height: 0.05
-    # default 5 (http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide)
-    update_frequency: 10.0
-    footprint_padding: 0.05
-  </rosparam>
-
   <node name="safe_tilt_head" pkg="jsk_fetch_startup" type="safe_tilt_head.py" />
 
   <!-- audible warning on unsafe teleop -->