diff --git a/CMakeLists.txt b/CMakeLists.txt
index 82716be..c5dbf37 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,7 +23,7 @@ target_link_libraries(vrx_bridge_node
   vrx_bridge_component
 )
 
-install(DIRECTORY launch
+install(DIRECTORY launch config
   DESTINATION share/${PROJECT_NAME}
 )
 
diff --git a/config/behavior_trees/go.xml b/config/behavior_trees/go.xml
new file mode 100644
index 0000000..ade82e0
--- /dev/null
+++ b/config/behavior_trees/go.xml
@@ -0,0 +1,7 @@
+<root main_tree_to_execute = "MainTree" >
+    <BehaviorTree ID="MainTree">
+        <Sequence>
+            <Action ID="MoveGoalAction" goal_x="10.0" goal_y="5.0" goal_theta="0.0"/>
+        </Sequence>
+    </BehaviorTree>
+</root>
diff --git a/config/go.yaml b/config/go.yaml
new file mode 100644
index 0000000..b04c87e
--- /dev/null
+++ b/config/go.yaml
@@ -0,0 +1,8 @@
+plugins:
+  - package: robotx_behavior_tree
+    name:
+      - move_goal_action
+behavior:
+  description:
+    package: vrx_bridge
+    path : config/behavior_trees/go.xml
\ No newline at end of file
diff --git a/config/vrx.rviz b/config/vrx.rviz
new file mode 100644
index 0000000..fcd6051
--- /dev/null
+++ b/config/vrx.rviz
@@ -0,0 +1,555 @@
+Panels:
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /RobotModel1
+        - /RobotModel1/Status1
+        - /Sensing1/lidar1
+        - /Perception1
+        - /Perception1/GridMap1
+      Splitter Ratio: 0.5
+    Tree Height: 568
+  - Class: rviz_common/Tool Properties
+    Expanded: ~
+    Name: Tool Properties
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 10
+      Class: rviz_default_plugins/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
+    - Class: rviz_default_plugins/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 5
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /wamv/robot_description
+      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
+        wamv/ball_shooter_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wamv/ball_shooter_camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/ball_shooter_camera_link_optical:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wamv/ball_shooter_camera_post_arm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/ball_shooter_camera_post_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/ball_shooter_launcher_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/cpu_cases_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/front_left_camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/front_left_camera_link_optical:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wamv/front_left_camera_post_arm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/front_left_camera_post_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/front_right_camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/front_right_camera_link_optical:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wamv/front_right_camera_post_arm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/front_right_camera_post_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/gps_wamv_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/imu_wamv_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/left_battery_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/left_engine_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/left_propeller_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/lidar_wamv_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/lidar_wamv_post_arm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/lidar_wamv_post_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/reciever:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/right_battery_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/right_engine_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wamv/right_propeller_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: wamv
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_common/Group
+      Displays:
+        - Alpha: 0.800000011920929
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 113.64582824707031
+            Min Value: -107.36042785644531
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz_default_plugins/PointCloud2
+          Color: 138; 226; 52
+          Color Transformer: AxisColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 0
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: lidar
+          Position Transformer: XYZ
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.03999999910593033
+          Style: Spheres
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /wamv/sensors/lidars/lidar_wamv_sensor/points
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+      Enabled: true
+      Name: Sensing
+    - Class: rviz_common/Group
+      Displays:
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz_default_plugins/LaserScan
+          Color: 114; 159; 207
+          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: ObstacleScan
+          Position Transformer: XYZ
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.10000000149011612
+          Style: Tiles
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /perception/pointcloud_to_laserscan_node/output
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: true
+          Name: Obstacle
+          Namespaces:
+            polygon: true
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /perception/scan_segmentation_node/marker
+          Value: true
+        - Alpha: 0.30000001192092896
+          Autocompute Intensity Bounds: true
+          Class: grid_map_rviz_plugin/GridMap
+          Color: 200; 200; 200
+          Color Layer: combined
+          Color Transformer: IntensityLayer
+          Enabled: true
+          Height Layer: combined
+          Height Transformer: Layer
+          History Length: 1
+          Invert Rainbow: false
+          Max Color: 239; 41; 41
+          Max Intensity: 10
+          Min Color: 52; 101; 164
+          Min Intensity: 0
+          Name: GridMap
+          Show Grid Lines: false
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /perception/grid_map
+          Use Rainbow: false
+          Value: true
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: true
+          Name: TaskObjects
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /perception/task_objects/marker
+          Value: true
+      Enabled: true
+      Name: Perception
+    - Class: rviz_common/Group
+      Displays:
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: true
+          Name: AvoidPath
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /local_waypoint_server/marker/no_collision
+          Value: true
+        - Alpha: 1
+          Axes Length: 1
+          Axes Radius: 0.10000000149011612
+          Class: rviz_default_plugins/Pose
+          Color: 255; 25; 0
+          Enabled: true
+          Head Length: 0.30000001192092896
+          Head Radius: 0.10000000149011612
+          Name: LocalWaypoint
+          Shaft Length: 1
+          Shaft Radius: 0.05000000074505806
+          Shape: Arrow
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /local_waypoint_server/local_waypoint
+          Value: true
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: true
+          Name: ReferenceVelocity
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /velocity_planner/velocity_planner/marker
+          Value: true
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: true
+          Name: SimulatedObstacle
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /navi_sim_node/marker
+          Value: true
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: true
+          Name: HermitePath
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /hermite_path_planner/marker
+          Value: true
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: true
+          Name: PurePursuit
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /pure_pursuit_planner/marker
+          Value: true
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: true
+          Name: VelocityPlanner
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /velocity_planner/velocity_planner/marker/polygon
+          Value: true
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: true
+          Name: Behavior
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /behavior/marker
+          Value: true
+      Enabled: true
+      Name: Plannig
+    - Class: rviz_common/Group
+      Displays:
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: true
+          Name: Collision
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /simulation/collision
+          Value: true
+      Enabled: true
+      Name: Simulation
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /move_base_simple/goal
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: initialpose
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+    - Class: rviz_default_plugins/Select
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/ThirdPersonFollower
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.7853981852531433
+      Target Frame: wamv/wamv/base_link
+      Value: ThirdPersonFollower (rviz_default_plugins)
+      Yaw: 0.7853981852531433
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 2096
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd000000020000000000000470000007d6fc0200000004fb000000100044006900730070006c006100790073010000003d00000275000000c900fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007301000002b8000000c90000005c00fffffffb0000000a0049006d006100670065000000029a0000010b0000000000000000fb0000000a0056006900650077007301000003870000048c000000a400ffffff00000001000001cb00000506fc0200000001fb0000000a00560069006500770073000000003d00000506000000a400ffffff00000a44000007d600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 3770
+  X: 70
+  Y: 27
diff --git a/launch/vrx_bringup.launch.xml b/launch/vrx_bringup.launch.xml
index b459793..219368e 100644
--- a/launch/vrx_bringup.launch.xml
+++ b/launch/vrx_bringup.launch.xml
@@ -1,8 +1,26 @@
 <launch>
-  <!-- component container(動的にノードを載せられるExecutor)を用意 -->
+  <arg name="behavior" default="go"/>
+
   <node_container pkg="rclcpp_components" exec="component_container_mt" name="vrx_bridge_container" namespace="vrx_bridge" args="">
     <composable_node pkg="vrx_bridge" plugin="vrx_bridge::VRXBridgeComponent" name="vrx_bridge_component">
     </composable_node>
   </node_container>
-  <include file="$(find-pkg-share robotx_ekf)/launch/ekf.launch.xml"/>
+  
+  <include file="$(find-pkg-share robotx_ekf)/launch/ekf.launch.xml">
+    <arg name="use_sim_time" value="true"/>
+    <arg name="vrx" value="true"/>
+  </include>
+
+  <include file="$(find-pkg-share perception_bringup)/launch/perception_bringup.launch.xml">
+    <arg name="use_sim_time" value="true"/>
+    <arg name="vrx" value="true"/>
+  </include>
+
+  <!-- <include file="$(find-pkg-share robotx_planner_bringup)/launch/planner_bringup.launch.py">
+    <arg name="behavior_config_package" value="vrx_bridge"/>
+    <arg name="behavior_config_filepath" value="config/$(var behavior).yaml"/>
+  </include> -->
+
+  <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share vrx_bridge)/config/vrx.rviz">
+  </node>
 </launch>
diff --git a/src/vrx_bridge_component.cpp b/src/vrx_bridge_component.cpp
index 42dd6df..6826445 100644
--- a/src/vrx_bridge_component.cpp
+++ b/src/vrx_bridge_component.cpp
@@ -31,7 +31,7 @@ VRXBridgeComponent::VRXBridgeComponent(const rclcpp::NodeOptions & options)
     "/vrx/stationkeeping/goal", 1,
     std::bind(&VRXBridgeComponent::Goaltopic_callback, this, std::placeholders::_1));
 
-  gps_pub_ = this->create_publisher<geographic_msgs::msg::GeoPoseStamped>("/geopose", 1);
+  gps_pub_ = this->create_publisher<geographic_msgs::msg::GeoPoseStamped>("/localization/geopose", 1);
   imu_pub_ = this->create_publisher<sensor_msgs::msg::Imu>("/imu", 1);
   goal_pub_ = this->create_publisher<geometry_msgs::msg::PoseStamped>("/move_base_simple/goal", 1);
 }