diff --git a/launch/move_base.launch b/launch/move_base.launch
index d844b0b..e9c8f53 100644
--- a/launch/move_base.launch
+++ b/launch/move_base.launch
@@ -5,15 +5,15 @@
 
   <!-- Run the map server -->
   <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find segwayrmp)/maps/mymap.pgm my_map_resolution"/> -->
-  <node name="map_server" pkg="map_server" type="map_server" args="$(find cps_rmp220_support)/maps/map.yaml"/>
+  <node name="map_server" pkg="map_server" type="map_server" args="/maps/map.yaml"/>
 
   <!--move base-->
   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
-    <rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
-    <rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
-    <rosparam file="$(find segwayrmp)/param/local_costmap_params.yaml" command="load" />
-    <rosparam file="$(find segwayrmp)/param/global_costmap_params.yaml" command="load" />
-    <rosparam file="$(find segwayrmp)/param/base_local_planner_params.yaml" command="load" />
+    <rosparam file="$(find cps_rmp220_support)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
+    <rosparam file="$(find cps_rmp220_support)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
+    <rosparam file="$(find cps_rmp220_support)/config/local_costmap_params.yaml" command="load" />
+    <rosparam file="$(find cps_rmp220_support)/config/global_costmap_params.yaml" command="load" />
+    <rosparam file="$(find cps_rmp220_support)/config/dwa_base_local_planner_params.yaml" command="load" />
     <!-- scan topic -->
     <remap from="scan" to="scan_filtered"/>
     <!-- remap cmd_vel -->
@@ -72,4 +72,4 @@
   static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms -->  
   <!-- <node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" args="0 0 0.5 0 0 0 base_link base_footprint 50" /> -->
 
-</launch>
\ No newline at end of file
+</launch>