diff --git a/launch/move_base.launch b/launch/move_base.launch
index 1c352b1..d844b0b 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -14,6 +14,12 @@
     <rosparam file="$(find segwayrmp)/param/local_costmap_params.yaml" command="load" />
     <rosparam file="$(find segwayrmp)/param/global_costmap_params.yaml" command="load" />
     <rosparam file="$(find segwayrmp)/param/base_local_planner_params.yaml" command="load" />
+    <!-- scan topic -->
+    <remap from="scan" to="scan_filtered"/>
+    <!-- remap cmd_vel -->
+    <remap from="cmd_vel" to="nav_vel"/>
+    <!-- remap odom -->
+    <remap from="odom" to="/robot_pose_ekf/odom_combined"/>
   </node>
 
   <!-- AMCL -->