diff --git a/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_bringup.launch b/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup.launch
similarity index 100%
rename from humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_bringup.launch
rename to humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup.launch
diff --git a/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_bringup_visualization.launch b/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup_visualization.launch
similarity index 100%
rename from humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_bringup_visualization.launch
rename to humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup_visualization.launch
diff --git a/humanoid_robot_intelligence_control_system_demo/launch/demo.launch b/humanoid_robot_intelligence_control_system_demo/launch/demo.launch
index bd235f4..2734717 100644
--- a/humanoid_robot_intelligence_control_system_demo/launch/demo.launch
+++ b/humanoid_robot_intelligence_control_system_demo/launch/demo.launch
@@ -1,25 +1,25 @@
 <?xml version="1.0"?>
 <launch>
   <!-- humanoid_robot_intelligence_control_system humanoid_robot_intelligence_control_system manager -->
-  <include file="$(find humanoid_robot_intelligence_control_system_manager)/launch/humanoid_robot_intelligence_control_system_manager.launch" />
+  <include
+    file="$(find humanoid_robot_intelligence_control_system_manager)/launch/humanoid_robot_intelligence_control_system_manager.launch" />
 
   <!-- Camera and Ball detector -->
-  <include file="$(find humanoid_robot_intelligence_control_system_ball_detector)/launch/ball_detector_from_usb_cam.launch" />
-
-  <!-- face tracking -->
-  <!-- <include file="$(find humanoid_robot_intelligence_control_system_demo)/launch/face_detection_humanoid_robot_intelligence_control_system.launch" /> -->
+  <include
+    file="$(find humanoid_robot_intelligence_control_system_ball_detector)/launch/ball_detector_from_usb_cam.launch" />
 
   <!-- camera setting tool -->
-  <include file="$(find humanoid_robot_intelligence_control_system_camera_setting_tool)/launch/humanoid_robot_intelligence_control_system_camera_setting_tool.launch" />
+  <include
+    file="$(find humanoid_robot_intelligence_control_system_camera_setting_tool)/launch/humanoid_robot_intelligence_control_system_camera_setting_tool.launch" />
 
   <!-- sound player -->
-  <node pkg="ros_madplay_player" type="ros_madplay_player" name="ros_madplay_player" output="screen" />
-
-  <!-- web setting -->
-  <include file="$(find humanoid_robot_intelligence_control_system_web_setting_tool)/launch/web_setting_server.launch" />
+  <node pkg="humanoid_robot_intelligence_control_system_player"
+    type="humanoid_robot_intelligence_control_system_player"
+    name="humanoid_robot_intelligence_control_system_player" output="screen" />
 
   <!-- humanoid_robot_intelligence_control_system humanoid_robot_intelligence_control_system demo -->
-  <node pkg="humanoid_robot_intelligence_control_system_demo" type="op_demo_node" name="humanoid_robot_intelligence_control_system_demo" output="screen">
+  <node pkg="humanoid_robot_intelligence_control_system_demo" type="op_demo_node"
+    name="humanoid_robot_intelligence_control_system_demo" output="screen">
     <param name="grass_demo" type="bool" value="False" />
     <param name="p_gain" value="0.45" />
     <param name="d_gain" value="0.045" />
diff --git a/humanoid_robot_intelligence_control_system_demo/launch/face_detection_humanoid_robot.launch b/humanoid_robot_intelligence_control_system_demo/launch/face_detection_humanoid_robot.launch
index 3dc87c8..dd680ac 100644
--- a/humanoid_robot_intelligence_control_system_demo/launch/face_detection_humanoid_robot.launch
+++ b/humanoid_robot_intelligence_control_system_demo/launch/face_detection_humanoid_robot.launch
@@ -1,16 +1,23 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="face_cascade_name_0" default="$(find face_detection)/include/face_detection/HaarCascades/haarcascade_frontalface_alt.xml" />
-  <arg name="face_cascade_name_1" default="$(find face_detection)/include/face_detection//HaarCascades/haarcascade_frontalface_alt2.xml" />
-  <arg name="face_cascade_name_2" default="$(find face_detection)/include/face_detection//HaarCascades/haarcascade_frontalface_alt_tree.xml" />
-  <arg name="face_cascade_name_3" default="$(find face_detection)/include/face_detection//HaarCascades/haarcascade_frontalface_default.xml" />
-  <arg name="face_cascade_name_4" default="$(find face_detection)/include/face_detection/lbpCascades/lbpcascade_frontalface.xml" />
+  <arg name="face_cascade_name_0"
+    default="$(find face_detection)/include/face_detection/HaarCascades/haarcascade_frontalface_alt.xml" />
+  <arg name="face_cascade_name_1"
+    default="$(find face_detection)/include/face_detection//HaarCascades/haarcascade_frontalface_alt2.xml" />
+  <arg name="face_cascade_name_2"
+    default="$(find face_detection)/include/face_detection//HaarCascades/haarcascade_frontalface_alt_tree.xml" />
+  <arg name="face_cascade_name_3"
+    default="$(find face_detection)/include/face_detection//HaarCascades/haarcascade_frontalface_default.xml" />
+  <arg name="face_cascade_name_4"
+    default="$(find face_detection)/include/face_detection/lbpCascades/lbpcascade_frontalface.xml" />
 
-  <node pkg="face_detection" type="face_tracking" name="face_tracking" args="$(arg face_cascade_name_0)
+  <node pkg="face_detection" type="face_tracking" name="face_tracking"
+    args="$(arg face_cascade_name_0)
               $(arg face_cascade_name_1)
               $(arg face_cascade_name_2)
               $(arg face_cascade_name_3)
-              $(arg face_cascade_name_4)" output="screen">
+              $(arg face_cascade_name_4)"
+    output="screen">
     <param name="imageInput" type="string" value="/usb_cam_node/image_raw" />
     <param name="displayed_Image" type="int" value="0" />
 
diff --git a/humanoid_robot_intelligence_control_system_demo/launch/self_test.launch b/humanoid_robot_intelligence_control_system_demo/launch/self_test.launch
index 38c2958..4751a5f 100644
--- a/humanoid_robot_intelligence_control_system_demo/launch/self_test.launch
+++ b/humanoid_robot_intelligence_control_system_demo/launch/self_test.launch
@@ -2,25 +2,26 @@
 <!-- Launches an UVC camera, the ball detector and its visualization  -->
 <launch>
   <!-- humanoid_robot_intelligence_control_system humanoid_robot_intelligence_control_system manager -->
-  <include file="$(find humanoid_robot_intelligence_control_system_manager)/launch/humanoid_robot_intelligence_control_system_manager.launch" />
+  <include
+    file="$(find humanoid_robot_intelligence_control_system_manager)/launch/humanoid_robot_intelligence_control_system_manager.launch" />
 
   <!-- Camera and Ball detector -->
-  <include file="$(find humanoid_robot_intelligence_control_system_ball_detector)/launch/ball_detector_from_usb_cam.launch" />
-
-  <!-- face tracking -->
-  <include file="$(find humanoid_robot_intelligence_control_system_demo)/launch/face_detection_humanoid_robot_intelligence_control_system.launch" />
+  <include
+    file="$(find humanoid_robot_intelligence_control_system_ball_detector)/launch/ball_detector_from_usb_cam.launch" />
 
   <!-- camera setting tool -->
-  <include file="$(find humanoid_robot_intelligence_control_system_camera_setting_tool)/launch/humanoid_robot_intelligence_control_system_camera_setting_tool.launch" />
+  <include
+    file="$(find humanoid_robot_intelligence_control_system_camera_setting_tool)/launch/humanoid_robot_intelligence_control_system_camera_setting_tool.launch" />
 
   <!-- sound player -->
-  <node pkg="ros_madplay_player" type="ros_madplay_player" name="ros_madplay_player" output="screen" />
+  <node pkg="humanoid_robot_intelligence_control_system_player"
+    type="humanoid_robot_intelligence_control_system_player"
+    name="humanoid_robot_intelligence_control_system_player" output="screen" />
 
-  <!-- web setting -->
-  <include file="$(find humanoid_robot_intelligence_control_system_web_setting_tool)/launch/web_setting_server.launch" />
-
-  <!-- humanoid_robot_intelligence_control_system humanoid_robot_intelligence_control_system self test demo -->
-  <node pkg="humanoid_robot_intelligence_control_system_demo" type="self_test_node" name="humanoid_robot_intelligence_control_system_self_test" output="screen">
+  <!-- humanoid_robot_intelligence_control_system humanoid_robot_intelligence_control_system self
+  test demo -->
+  <node pkg="humanoid_robot_intelligence_control_system_demo" type="self_test_node"
+    name="humanoid_robot_intelligence_control_system_self_test" output="screen">
     <param name="grass_demo" type="bool" value="False" />
     <param name="p_gain" value="0.45" />
     <param name="d_gain" value="0.045" />
diff --git a/humanoid_robot_intelligence_control_system_demo/src/demo_node.cpp b/humanoid_robot_intelligence_control_system_demo/src/demo_node.cpp
index 7df1268..523b62a 100644
--- a/humanoid_robot_intelligence_control_system_demo/src/demo_node.cpp
+++ b/humanoid_robot_intelligence_control_system_demo/src/demo_node.cpp
@@ -71,20 +71,25 @@ int main(int argc, char **argv) {
 
   ros::NodeHandle nh(ros::this_node::getName());
 
-  init_pose_pub =
-      nh.advertise<std_msgs::String>("/humanoid_robot_intelligence_control_system/base/ini_pose", 0);
+  init_pose_pub = nh.advertise<std_msgs::String>(
+      "/humanoid_robot_intelligence_control_system/base/ini_pose", 0);
   play_sound_pub = nh.advertise<std_msgs::String>("/play_sound_file", 0);
-  led_pub = nh.advertise<humanoid_robot_intelligence_control_system_controller_msgs::SyncWriteItem>(
-      "/humanoid_robot_intelligence_control_system/sync_write_item", 0);
-  dxl_torque_pub =
-      nh.advertise<std_msgs::String>("/humanoid_robot_intelligence_control_system/dxl_torque", 0);
+  led_pub =
+      nh.advertise<humanoid_robot_intelligence_control_system_controller_msgs::
+                       SyncWriteItem>(
+          "/humanoid_robot_intelligence_control_system/sync_write_item", 0);
+  dxl_torque_pub = nh.advertise<std_msgs::String>(
+      "/humanoid_robot_intelligence_control_system/dxl_torque", 0);
   ros::Subscriber buttuon_sub =
-      nh.subscribe("/humanoid_robot_intelligence_control_system/open_cr/button", 1, buttonHandlerCallback);
+      nh.subscribe("/humanoid_robot_intelligence_control_system/open_cr/button",
+                   1, buttonHandlerCallback);
   ros::Subscriber mode_command_sub =
-      nh.subscribe("/humanoid_robot_intelligence_control_system/mode_command", 1, demoModeCommandCallback);
+      nh.subscribe("/humanoid_robot_intelligence_control_system/mode_command",
+                   1, demoModeCommandCallback);
 
   default_mp3_path =
-      ros::package::getPath("humanoid_robot_intelligence_control_system_demo") + "/data/mp3/";
+      ros::package::getPath("humanoid_robot_intelligence_control_system_demo") +
+      "/data/mp3/";
 
   ros::start();
 
@@ -92,7 +97,8 @@ int main(int argc, char **argv) {
   ros::Rate loop_rate(SPIN_RATE);
 
   // wait for starting of manager
-  std::string manager_name = "/humanoid_robot_intelligence_control_system_manager";
+  std::string manager_name =
+      "/humanoid_robot_intelligence_control_system_manager";
   while (ros::ok()) {
     ros::Duration(1.0).sleep();
 
@@ -272,7 +278,8 @@ void playSound(const std::string &path) {
 }
 
 void setLED(int led) {
-  humanoid_robot_intelligence_control_system_controller_msgs::SyncWriteItem syncwrite_msg;
+  humanoid_robot_intelligence_control_system_controller_msgs::SyncWriteItem
+      syncwrite_msg;
   syncwrite_msg.item_name = "LED";
   syncwrite_msg.joint_name.push_back("open-cr");
   syncwrite_msg.value.push_back(led);
diff --git a/humanoid_robot_intelligence_control_system_read_write_demo/launch/humanoid_robot_read_write.launch b/humanoid_robot_intelligence_control_system_read_write_demo/launch/humanoid_robot_intelligence_control_system_read_write.launch
similarity index 100%
rename from humanoid_robot_intelligence_control_system_read_write_demo/launch/humanoid_robot_read_write.launch
rename to humanoid_robot_intelligence_control_system_read_write_demo/launch/humanoid_robot_intelligence_control_system_read_write.launch