diff --git a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
index 2740ec53ca..15a6508a16 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
+++ b/jsk_fetch_robot/jsk_fetch_startup/apps/go_to_kitchen/go_to_kitchen.app
@@ -55,9 +55,9 @@ plugins:
         - /odom
         - /odom_combined
         - /cmd_vel
-        - /move_base/NavFnROS/plan
-        - /move_base/TrajectoryPlannerROS/global_plan
-        - /move_base/TrajectoryPlannerROS/local_plan
+        - /move_base/navigation_plan_viz
+        - /move_base/global_plan_viz
+        - /move_base/local_plan_viz
         - /move_base/global_costmap/footprint
         - /spots_marker_array
         - /spots_pictogram
diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
index b9b95f0705..7d5b36018d 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup.rviz
@@ -240,7 +240,7 @@ Visualization Manager:
       Radius: 0.029999999329447746
       Shaft Diameter: 0.10000000149011612
       Shaft Length: 0.10000000149011612
-      Topic: /move_base/NavfnROS/plan
+      Topic: /move_base/navigation_plan_viz
       Unreliable: false
       Value: true
     - Alpha: 1
@@ -263,7 +263,7 @@ Visualization Manager:
       Radius: 0.029999999329447746
       Shaft Diameter: 0.10000000149011612
       Shaft Length: 0.10000000149011612
-      Topic: /move_base/TrajectoryPlannerROS/global_plan
+      Topic: /move_base/global_plan_viz
       Unreliable: false
       Value: true
     - Alpha: 1
@@ -286,7 +286,7 @@ Visualization Manager:
       Radius: 0.029999999329447746
       Shaft Diameter: 0.10000000149011612
       Shaft Length: 0.10000000149011612
-      Topic: /move_base/TrajectoryPlannerROS/local_plan
+      Topic: /move_base/local_plan_viz
       Unreliable: false
       Value: true
     - Alpha: 1
diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup_record.rviz b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup_record.rviz
new file mode 100644
index 0000000000..8b162425f0
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/jsk_startup_record.rviz
@@ -0,0 +1,527 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.4187380373477936
+    Tree Height: 624
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: BaseScan
+  - Class: jsk_rviz_plugin/CancelAction
+    Name: CancelAction
+    Topic: ""
+    topics:
+      - /move_base
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_camera_mount:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bellows_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bellows_link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        d435_front_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        d435_front_right_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        elbow_flex_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        estop_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        forearm_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gripper_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_box_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_camera_depth_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_camera_depth_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_camera_rgb_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_camera_rgb_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_pan_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_tilt_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_gripper_finger_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_gripper_finger_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        shoulder_lift_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        shoulder_pan_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        torso_fixed_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        torso_lift_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        upperarm_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wrist_flex_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wrist_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 255; 0; 127
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Billboards
+      Line Width: 0.30000001192092896
+      Name: NavigationPath
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic: /move_base/navigation_plan_viz
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 255; 0; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Billboards
+      Line Width: 0.10000000149011612
+      Name: GlobalPath
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic: /move_base/global_plan_viz
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: LocalPath
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic: /move_base/local_plan_viz
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Class: rviz/Polygon
+      Color: 255; 0; 0
+      Enabled: true
+      Name: FootPrint
+      Topic: /move_base/global_costmap/footprint
+      Unreliable: false
+      Value: true
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /spots_marker_array
+      Name: SpotLabel
+      Namespaces:
+        pin_body: true
+        pin_head: true
+        pin_label: true
+      Queue Size: 100
+      Value: true
+    - Class: jsk_rviz_plugin/PictogramArray
+      Enabled: true
+      Name: SpotPictogram
+      Topic: /spots_pictogram
+      Unreliable: false
+      Value: true
+    - Alpha: 0.30000001192092896
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: false
+      Name: SafeCostMap
+      Topic: /safe_teleop_base/local_costmap/costmap
+      Unreliable: false
+      Use Timestamp: false
+      Value: false
+    - Alpha: 0.3499999940395355
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: true
+      Name: LocalCostMap
+      Topic: /move_base/local_costmap/costmap
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 0.3499999940395355
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: true
+      Name: GlobalCostMap
+      Topic: /move_base/global_costmap/costmap
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Arrow Length: 0.20000000298023224
+      Axes Length: 0.30000001192092896
+      Axes Radius: 0.009999999776482582
+      Class: rviz/PoseArray
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.07000000029802322
+      Head Radius: 0.029999999329447746
+      Name: AMCLParticle
+      Shaft Length: 0.23000000417232513
+      Shaft Radius: 0.009999999776482582
+      Shape: Arrow (Flat)
+      Topic: /particlecloud
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: BaseScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.07000000029802322
+      Style: Spheres
+      Topic: /base_scan/throttled
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: XtionPointCloud
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 4
+      Size (m): 0.00800000037997961
+      Style: Points
+      Topic: /head_camera/depth_registered/quater/throttled/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: jsk_rviz_plugin/OverlayImage
+      Enabled: true
+      Name: XtionRGB
+      Topic: /head_camera/rgb/quater/image_rect_color
+      Value: true
+      alpha: 0.800000011920929
+      height: 128
+      keep aspect ratio: true
+      left: 10
+      overwrite alpha value: false
+      top: 10
+      transport hint: compressed
+      width: 320
+    - Class: jsk_rviz_plugin/RvizScenePublisher
+      Enabled: true
+      Name: RvizScenePublisher
+      Value: true
+      topic_name: /rviz/image
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+    - Class: jsk_rviz_plugin/CloseAll
+    - Class: jsk_rviz_plugin/OpenAll
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 9.436322212219238
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.3633022904396057
+        Y: -0.07788003236055374
+        Z: 0.20991230010986328
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.099797248840332
+      Target Frame: base_link
+      Value: Orbit (rviz)
+      Yaw: 0.010399596765637398
+    Saved: ~
+Window Geometry:
+  CancelAction:
+    collapsed: true
+  Displays:
+    collapsed: true
+  Height: 1052
+  Hide Left Dock: true
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd0000000400000000000001f800000382fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003b000002f9000000c700fffffffb00000018004b0069006e00650063007400430061006d0065007200610000000373000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e006100720072006f007700430061006d0065007200610000000244000001460000000000000000fb0000001800430061006e00630065006c0041006300740069006f006e000000033a000000830000007900ffffff000000010000010f00000382fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000382000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003f50000003efc0100000002fb0000000800540069006d00650100000000000003f50000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000003f50000038200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1013
+  X: 67
+  Y: 180
diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/lightweight_navigation.rviz b/jsk_fetch_robot/jsk_fetch_startup/config/lightweight_navigation.rviz
index b20c38ab8f..c582d3e44b 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/config/lightweight_navigation.rviz
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/lightweight_navigation.rviz
@@ -235,7 +235,7 @@ Visualization Manager:
       Radius: 0.029999999329447746
       Shaft Diameter: 0.10000000149011612
       Shaft Length: 0.10000000149011612
-      Topic: /move_base/NavfnROS/plan
+      Topic: /move_base/navigation_plan_viz
       Unreliable: false
       Value: true
     - Alpha: 1
@@ -258,7 +258,7 @@ Visualization Manager:
       Radius: 0.029999999329447746
       Shaft Diameter: 0.10000000149011612
       Shaft Length: 0.10000000149011612
-      Topic: /move_base/TrajectoryPlannerROS/global_plan
+      Topic: /move_base/global_plan_viz
       Unreliable: false
       Value: true
     - Alpha: 1
@@ -281,7 +281,7 @@ Visualization Manager:
       Radius: 0.029999999329447746
       Shaft Diameter: 0.10000000149011612
       Shaft Length: 0.10000000149011612
-      Topic: /move_base/TrajectoryPlannerROS/local_plan
+      Topic: /move_base/local_plan_viz
       Unreliable: false
       Value: true
     - Alpha: 1
diff --git a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
index 6511ae0c8e..e5fedfa9d1 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -137,11 +137,13 @@
      (if is-charging :charging :discharging)))
 
 
-(defun go-to-spot (name &optional (relative-coords (make-coords)) &key (undock-rotate nil))
+(defun go-to-spot (name &optional (relative-coords (make-coords))
+                        &key (undock-rotate nil) (clear-costmap t))
   ;; undock if fetch is docking
   (unless (boundp '*ri*)
     (require :fetch-interface "package://fetcheus/fetch-interface.l")
     (fetch-init))
+  (if clear-costmap (send *ri* :clear-costmap))
   (let ((undock-success nil))
     (block go-to-spot-undock
       (dotimes (i 3)
@@ -170,14 +172,14 @@
          (frame-id (cdr ret)))
     (when relative-coords
       (setq goal-pose (send goal-pose :transform relative-coords :world)))
-    (send *ri* :clear-costmap)
     (send *ri* :move-to goal-pose :frame-id frame-id)))
 
 
-(defun auto-dock (&key (n-trial 1))
+(defun auto-dock (&key (n-trial 1) (clear-costmap t))
   (let ((success nil))
     (dotimes (i n-trial)
-      (when (go-to-spot *dock-spot* (make-coords :pos #f(-800 0 0)))
+      (when (go-to-spot *dock-spot* (make-coords :pos #f(-800 0 0))
+                        :clear-costmap clear-costmap)
         (ros::ros-info "arrived at the dock.")
         (setq success (dock))
         (when success (return-from auto-dock success))))
@@ -349,7 +351,7 @@
       (report-move-to-sink-front-failure))
     ;; go back from dock
     (report-auto-dock)
-    (setq success-auto-dock (auto-dock :n-trial n-dock-trial))
+    (setq success-auto-dock (auto-dock :n-trial n-dock-trial :clear-costmap nil))
     ;; turn off light
     (if (and success-auto-dock (not initial-light-on))
       (room-light-off :control-switchbot control-switchbot))
@@ -420,7 +422,7 @@
               '(lambda (userdata)
                  (report-auto-dock)
                  (let* ((n-trial (cdr (assoc 'n-dock-trial userdata)))
-                        (success (auto-dock :n-trial n-trial)))
+                        (success (auto-dock :n-trial n-trial :clear-costmap nil)))
                    (setf (cdr (assoc 'success-auto-dock userdata)) success)
                    success)))
             (:room-light-off
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
index ac62348398..69a603550d 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -1,4 +1,5 @@
 <launch>
+  <arg name="hostname" default="fetch15" />
   <arg name="launch_moveit" default="true" />
   <arg name="launch_teleop" default="true" />
   <arg name="launch_move_base" default="true" />
@@ -192,6 +193,25 @@
       <arg name="launch_map_server" value="false" />
       <arg name="odom_topic" value="/odom_combined" />
     </include>
+    <!-- relay plan path topic for visualization -->
+    <node name="relay_navfn_planner_plan"
+          pkg="topic_tools" type="relay"
+          args="/move_base/NavfnROS/plan /move_base/navigation_plan_viz" />
+    <node name="relay_global_planner_plan"
+          pkg="topic_tools" type="relay"
+          args="/move_base/GlobalPlanner/plan /move_base/navigation_plan_viz" />
+    <node name="relay_trajectory_planner_global_plan"
+          pkg="topic_tools" type="relay"
+          args="/move_base/TrajectoryPlannerROS/global_plan /move_base/global_plan_viz" />
+    <node name="relay_trajectory_planner_local_plan"
+          pkg="topic_tools" type="relay"
+          args="/move_base/TrajectoryPlannerROS/local_plan /move_base/local_plan_viz" />
+    <node name="relay_teb_planner_global_plan"
+          pkg="topic_tools" type="relay"
+          args="/move_base/TebLocalPlannerROS/global_plan /move_base/global_plan_viz" />
+    <node name="relay_teb_planner_local_plan"
+          pkg="topic_tools" type="relay"
+          args="/move_base/TebLocalPlannerROS/local_plan /move_base/local_plan_viz" />
 
     <!-- slam for build a map -->
     <node pkg="slam_karto" type="slam_karto" name="slam_karto"
@@ -201,14 +221,14 @@
 
     <!-- load amcl params -->
     <rosparam command="load"
-              file="$(find jsk_fetch_startup)/launch/navigation/fetch_amcl_common_params.yaml" />
+              file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_amcl_common_params.yaml" />
     <rosparam command="load"
-              file="$(find jsk_fetch_startup)/launch/navigation/fetch_amcl_$(env ROS_DISTRO)_params.yaml" />
+              file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_amcl_$(env ROS_DISTRO)_params.yaml" />
     <!-- load move_base params -->
     <rosparam command="load"
-              file="$(find jsk_fetch_startup)/launch/navigation/fetch_move_base_common_params.yaml" />
+              file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_move_base_common_params.yaml" />
     <rosparam command="load"
-              file="$(find jsk_fetch_startup)/launch/navigation/fetch_move_base_$(env ROS_DISTRO)_params.yaml" />
+              file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_move_base_$(env ROS_DISTRO)_params.yaml" />
   </group>
 
   <!-- /imu has no frame_id information and there is no bug fix release in indigo. -->
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch_amcl_common_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_amcl_common_params.yaml
similarity index 100%
rename from jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch_amcl_common_params.yaml
rename to jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_amcl_common_params.yaml
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch_amcl_indigo_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_amcl_indigo_params.yaml
similarity index 100%
rename from jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch_amcl_indigo_params.yaml
rename to jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_amcl_indigo_params.yaml
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch_amcl_kinetic_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_amcl_kinetic_params.yaml
similarity index 100%
rename from jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch_amcl_kinetic_params.yaml
rename to jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_amcl_kinetic_params.yaml
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch_amcl_melodic_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_amcl_melodic_params.yaml
similarity index 100%
rename from jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch_amcl_melodic_params.yaml
rename to jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_amcl_melodic_params.yaml
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch_move_base_kinetic_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml
similarity index 100%
rename from jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch_move_base_kinetic_params.yaml
rename to jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_common_params.yaml
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch_move_base_indigo_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_indigo_params.yaml
similarity index 100%
rename from jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch_move_base_indigo_params.yaml
rename to jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_indigo_params.yaml
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_kinetic_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_kinetic_params.yaml
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_melodic_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch1075/fetch_move_base_melodic_params.yaml
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_amcl_common_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_amcl_common_params.yaml
new file mode 100644
index 0000000000..0d91503d3e
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_amcl_common_params.yaml
@@ -0,0 +1,7 @@
+amcl:
+  update_min_a: 0.05 # update filter every 0.05 [rad] rotation
+  update_min_d: 0.1  # update filter every 0.1 [m] translation
+  odom_alpha1: 0.1   # rotation noise per rotation
+  odom_alpha2: 0.05  # rotation noise per translation
+  odom_alpha3: 0.05  # translation noise per translation
+  odom_alpha4: 0.1   # translation noise per rotation
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_amcl_indigo_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_amcl_indigo_params.yaml
new file mode 100644
index 0000000000..415958d1d2
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_amcl_indigo_params.yaml
@@ -0,0 +1,8 @@
+amcl:
+  kld_err: 0.1
+  kld_z: 0.5
+  laser_z_hit: 0.9
+  laser_z_rand: 0.5
+  laser_sigma_hit: 0.1
+  laser_likelihood_max_dist: 4.0
+  resample_interval: 1
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_amcl_kinetic_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_amcl_kinetic_params.yaml
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_amcl_melodic_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_amcl_melodic_params.yaml
new file mode 100644
index 0000000000..e9afd45afc
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_amcl_melodic_params.yaml
@@ -0,0 +1,7 @@
+amcl:
+  update_min_a: 0.05 # update filter every 0.05 [rad] rotation
+  update_min_d: 0.1  # update filter every 0.1 [m] translation
+  odom_alpha1: 0.01   # rotation noise per rotation
+  odom_alpha2: 0.01  # rotation noise per translation
+  odom_alpha3: 0.01  # translation noise per translation
+  odom_alpha4: 0.01   # translation noise per rotation
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch_move_base_common_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
similarity index 89%
rename from jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch_move_base_common_params.yaml
rename to jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
index 25c0f91d15..a0a284bfa1 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch_move_base_common_params.yaml
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_common_params.yaml
@@ -19,12 +19,30 @@ move_base:
     update_frequency: 5.0
   base_global_planner: global_planner/GlobalPlanner
   base_local_planner: teb_local_planner/TebLocalPlannerROS
+  # base_local_planner: base_local_planner/TrajectoryPlannerROS
   GlobalPlanner:
     allow_unknown: true
     default_tolerance: 0.0
     orientation_mode: 1
     visualize_potential: false
     publish_potential: false
+  TrajectoryPlannerROS:
+    yaw_goal_tolerance: 0.1
+    xy_goal_tolerance: 0.17
+    max_vel_x: 0.5
+    min_vel_x: 0.1
+    min_in_place_vel_theta: 0.5
+    escape_vel: 0.0
+    sim_time: 1.5
+    sim_granularity: 0.025
+    angular_sim_granularity: 0.025
+    vx_samples: 10
+    vth_samples: 40
+    meter_scoring: true
+    pdist_scale: 4.0
+    gdist_scale: 2.5
+    occdist_scale: 0.00625
+    dwa: true
   TebLocalPlannerROS:
     odom_topic: /odom_combined
     map_frame: /odom
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_indigo_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_indigo_params.yaml
new file mode 100644
index 0000000000..3858131bf6
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_indigo_params.yaml
@@ -0,0 +1,3 @@
+move_base:
+  global_costmap:
+    update_frequency: 2.0
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_kinetic_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_kinetic_params.yaml
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch_move_base_melodic_params.yaml b/jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_melodic_params.yaml
similarity index 100%
rename from jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch_move_base_melodic_params.yaml
rename to jsk_fetch_robot/jsk_fetch_startup/launch/navigation/fetch15/fetch_move_base_melodic_params.yaml
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch
index 7f8755e672..b2f0094319 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/rosbag_record.launch
@@ -15,9 +15,9 @@
           /odom
           /odom_combined
           /cmd_vel
-          /move_base/NavFnROS/plan
-          /move_base/TrajectoryPlannerROS/global_plan
-          /move_base/TrajectoryPlannerROS/local_plan
+          /move_base/navigation_plan_viz
+          /move_base/global_plan_viz
+          /move_base/local_plan_viz
           /move_base/global_costmap/footprint
           /spots_marker_array
           /spots_pictogram
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf
index c6d201e3f5..5292717154 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/jsk-fetch-startup.conf
@@ -1,5 +1,5 @@
 [program:jsk-fetch-startup]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch boot_sound:=true use_voice_text:=false --wait"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup setup_audio.bash && roslaunch jsk_fetch_startup fetch_bringup.launch hostname:=$(hostname) boot_sound:=true use_voice_text:=false --wait"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true