diff --git a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
index 4fc3e3e074..5f505796b3 100644
--- a/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
+++ b/jsk_fetch_robot/jsk_fetch.rosinstall.melodic
@@ -189,9 +189,9 @@
     version: master
 # we need this for smart device ros system
 - git:
-    local-name: sktometometo/esp_now_ros
-    uri: https://github.com/sktometometo/esp_now_ros.git
-    version: v0.4.0
+    local-name: sktometometo/smart_device_protocol
+    uri: https://github.com/sktometometo/smart_device_protocol.git
+    version: v0.5.1
 # melodic version of robot_localization causes TF_REPEATED_DATA Errors to noetic client
 # So we have to adopt https://github.com/cra-ros-pkg/robot_localization/pull/595 (Using noetic-devel causes some localization trouble)
 # After https://github.com/cra-ros-pkg/robot_localization/pull/840 has been merged, we can use upstream melodic-devel branch
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 2ed7414721..11cf8a9218 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
+++ b/jsk_fetch_robot/jsk_fetch_startup/euslisp/navigation-utils.l
@@ -8,8 +8,8 @@
 (ros::load-ros-manifest "jsk_recognition_msgs")
 (ros::load-ros-manifest "power_msgs")
 (ros::load-ros-manifest "sensor_msgs")
-(if (ros::rospack-find "esp_now_ros")
-    (ros::load-ros-manifest "esp_now_ros"))
+(if (ros::rospack-find "smart_device_protocol")
+    (ros::load-ros-manifest "smart_device_protocol"))
 
 (defparameter *dock-action* nil)
 (defparameter *undock-action* nil)
@@ -694,12 +694,12 @@ Args:
              ))
          (message-array (padding-byte-array (coerce message cons) 64))
          (byte-data (concatenate cons packet-type-array source-name-array timeout-duration-array message-array))
-         (msg (instance esp_now_ros::Packet :init
+         (msg (instance smart_device_protocol::Packet :init
                         :mac_address (coerce target-addr string)
                         :data (coerce byte-data string)))
          )
-    (ros::advertise "/esp_now_ros/send" esp_now_ros::Packet 1)
-    (ros::publish "/esp_now_ros/send" msg)
+    (ros::advertise "/smart_device_protocol/send" smart_device_protocol::Packet 1)
+    (ros::publish "/smart_device_protocol/send" msg)
     (ros::ros-info "Write message ~A to board ~A" message target-addr)
     )
   )
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 1d6c89734e..539974b2b4 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -425,8 +425,9 @@
 
   <!-- smart device ros -->
   <group if="$(eval arg('smart_device_port') != '')">
-      <include file="$(find esp_now_ros)/launch/demo.launch">
+      <include file="$(find smart_device_protocol)/launch/demo.launch">
           <arg name="port" value="$(arg smart_device_port)"/>
+          <arg name="tag_id" value="$(optenv SDP_TAG_ID 11)"/>
       </include>
   </group>
 
diff --git a/jsk_fetch_robot/jsk_fetch_startup/udev_rules/80-arduino.rules b/jsk_fetch_robot/jsk_fetch_startup/udev_rules/80-arduino.rules
index ef16f14591..f80fad6045 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/udev_rules/80-arduino.rules
+++ b/jsk_fetch_robot/jsk_fetch_startup/udev_rules/80-arduino.rules
@@ -5,3 +5,6 @@ SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", SYMLINK+="a
 # The following device is for arduino nano every in nakane hand version 1
 # Please update idVendor and idProduct if you use a different microcontroller
 SUBSYSTEM=="tty", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0058", SYMLINK+="nakane_hand", MODE="0666"
+
+# The following device is for M5Atom S3 for smart device protocol interface by k-shinjo 2024/1/9
+SUBSYSTEM=="tty", ATTRS{idVendor}=="303A", ATTRS{idProduct}=="1001", SYMLINK+="smart_device_protocol_interface", MODE="0666"