diff --git a/orange_gazebo/launch/orange_hosei.launch.xml b/orange_gazebo/launch/orange_hosei.launch.xml
index 94b0f6f..ab16901 100644
--- a/orange_gazebo/launch/orange_hosei.launch.xml
+++ b/orange_gazebo/launch/orange_hosei.launch.xml
@@ -12,6 +12,9 @@
   <arg name="fusion_odom_topic" default="/fusion/odom"/>
   <arg name="world_file_path" default="$(find-pkg-share orange_gazebo)/worlds/orange_hosei.world"/>
   <arg name="xacro_file_path" default="$(find-pkg-share orange_description)/xacro/orange_robot.xacro"/>
+  <arg name="x" default="0.0"/>
+  <arg name="y" default="0.0"/>
+  <arg name="yaw" default="0.0"/>
   <!-- pointcloud_to_laserscan -->
   <include file="$(find-pkg-share orange_sensor_tools)/launch/pointcloud_to_laserscan.launch.xml">
     <arg name="use_sim_time" value="$(var use_sim_time)"/>
@@ -49,7 +52,7 @@
     <param name="robot_description" value="$(command 'xacro $(var xacro_file_path)')"/>
   </node>
   <!-- spawn_entity -->
-  <node pkg="gazebo_ros" exec="spawn_entity.py" args="-entity orange_robot -topic /robot_description">
+  <node pkg="gazebo_ros" exec="spawn_entity.py" args="-entity orange_robot -topic /robot_description -x $(var x) -y $(var y) -Y $(var yaw)">
     <param name="use_sim_time" value="$(var use_sim_time)"/>
   </node>
 </launch>
diff --git a/orange_navigation/launch/multi_map_navigation.launch.xml b/orange_navigation/launch/multi_map_navigation.launch.xml
index 79abcea..290db51 100644
--- a/orange_navigation/launch/multi_map_navigation.launch.xml
+++ b/orange_navigation/launch/multi_map_navigation.launch.xml
@@ -2,7 +2,7 @@
 <launch>
   <!-- Arguments -->
   <arg name="use_sim_time" default="false"/>
-  <arg name="multi_map_dir" default="$(find-pkg-share map_changer)/test"/>
+  <arg name="multi_map_dir" default="$(find-pkg-share kbkn_maps)/multi_map/hosei/m2/courtyard"/>
   <arg name="start_map_num" default="0"/>
   <arg name="map_file_path" default="$(var multi_map_dir)/map$(var start_map_num).yaml"/>
   <arg name="waypoints_file" default="$(var multi_map_dir)/waypoints.yaml"/>
@@ -11,6 +11,7 @@
   <arg name="robot_frame" default="base_footprint"/>
   <arg name="min_dist_err" default="0.3"/>
   <arg name="min_yaw_err" default="0.3"/>
+  <arg name="from_middle" default="false"/>
   <arg name="tandem_scan" default="merged_scan"/>
   <arg name="use_angle" default="20.0"/>
   <arg name="danger_dist" default="2.0"/>
@@ -30,6 +31,7 @@
     <arg name="robot_frame" value="$(var robot_frame)"/>
     <arg name="min_dist_err" value="$(var min_dist_err)"/>
     <arg name="min_yaw_err" value="$(var min_yaw_err)"/>
+    <arg name="from_middle" value="$(var from_middle)"/>
     <arg name="tandem_scan" value="$(var tandem_scan)"/>
     <arg name="use_angle" value="$(var use_angle)"/>
     <arg name="danger_dist" value="$(var danger_dist)"/>
diff --git a/orange_navigation/launch/waypoint_navigation.launch.xml b/orange_navigation/launch/waypoint_navigation.launch.xml
index e2945fa..a9baafc 100644
--- a/orange_navigation/launch/waypoint_navigation.launch.xml
+++ b/orange_navigation/launch/waypoint_navigation.launch.xml
@@ -10,6 +10,7 @@
   <arg name="robot_frame" default="base_footprint"/>
   <arg name="min_dist_err" default="0.3"/>
   <arg name="min_yaw_err" default="0.3"/>
+  <arg name="from_middle" default="false"/>
   <arg name="tandem_scan" default="merged_scan"/>
   <arg name="use_angle" default="20.0"/>
   <arg name="danger_dist" default="2.0"/>
@@ -29,6 +30,7 @@
     <arg name="robot_frame" value="$(var robot_frame)"/>
     <arg name="min_dist_err" value="$(var min_dist_err)"/>
     <arg name="min_yaw_err" value="$(var min_yaw_err)"/>
+    <arg name="from_middle" value="$(var from_middle)"/>
     <arg name="tandem_scan" value="$(var tandem_scan)"/>
     <arg name="use_angle" value="$(var use_angle)"/>
     <arg name="danger_dist" value="$(var danger_dist)"/>