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" />