diff --git a/fixposition_driver_ros1/launch/tcp.yaml b/fixposition_driver_ros1/launch/tcp.yaml
index bb8add1..fbfe18f 100644
--- a/fixposition_driver_ros1/launch/tcp.yaml
+++ b/fixposition_driver_ros1/launch/tcp.yaml
@@ -1,8 +1,8 @@
 fp_output:
-    formats: ["ODOMETRY", "LLH", "RAWIMU", "CORRIMU", "GPGGA", "GPZDA", "GPRMC", "TF"]
+    formats: ["ODOMETRY", "ODOMSH", "LLH", "RAWIMU", "CORRIMU", "GPGGA", "GPZDA", "GPRMC", "TF"]
     type: tcp
     port: "21000"
-    ip: "172.22.1.46" # change to VRTK2's IP address in the network
+    ip: "10.0.2.1" # change to VRTK2's IP address in the network
     rate: 200
     reconnect_delay: 5.0 # wait time in [s] until retry connection
 
diff --git a/fixposition_driver_ros2/launch/tcp.yaml b/fixposition_driver_ros2/launch/tcp.yaml
index 09d7079..22edddc 100644
--- a/fixposition_driver_ros2/launch/tcp.yaml
+++ b/fixposition_driver_ros2/launch/tcp.yaml
@@ -1,7 +1,7 @@
 fixposition_driver_ros2:
   ros__parameters:
     fp_output:
-      formats: ["ODOMETRY", "LLH", "RAWIMU", "CORRIMU", "GPGGA", "GPZDA", "GPRMC", "TF"]
+      formats: ["ODOMETRY", "ODOMSH", "LLH", "RAWIMU", "CORRIMU", "GPGGA", "GPZDA", "GPRMC", "TF"]
       type: "tcp"
       port: "21000"
       ip: "10.0.2.1" # change to VRTK2's IP address in the network