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 fbac2160a4d..157782da77a 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -205,7 +205,6 @@
     </rosparam>
 
     <rosparam ns="move_base/global_costmap">
-      resolution: 0.1
       inflater:
         inflation_radius: 0.7 # 0.7
         cost_scaling_factor: 5.0 # 10.0
@@ -215,8 +214,6 @@
       update_frequency: 2.0
     </rosparam>
     <rosparam ns="move_base/local_costmap">
-      width: 3
-      height: 3
       inflater:
         inflation_radius: 0.7 # 0.7
         cost_scaling_factor: 5.0 # 25.0 default 10, increasing factor decrease the cost value
@@ -224,7 +221,6 @@
         min_obstacle_height: 0.05
       # default 5 (http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide)
       footprint_padding: 0.05
-      transform_tolerance: 0.5
       update_frequency: 5.0
     </rosparam>
     <rosparam ns="move_base">