diff --git a/individual_params/config/default/awsim_labs_sensor_kit/sensor_kit_calibration.yaml b/individual_params/config/default/awsim_labs_sensor_kit/sensor_kit_calibration.yaml
deleted file mode 100644
index c516662..0000000
--- a/individual_params/config/default/awsim_labs_sensor_kit/sensor_kit_calibration.yaml
+++ /dev/null
@@ -1,92 +0,0 @@
-sensor_kit_base_link:
-  camera0/camera_link:
-    x: 0.10731
-    y: 0.56343
-    z: -0.27697
-    roll: -0.025
-    pitch: 0.315
-    yaw: 1.035
-  camera1/camera_link:
-    x: -0.10731
-    y: -0.56343
-    z: -0.27697
-    roll: -0.025
-    pitch: 0.32
-    yaw: -2.12
-  camera2/camera_link:
-    x: 0.10731
-    y: -0.56343
-    z: -0.27697
-    roll: -0.00
-    pitch: 0.335
-    yaw: -1.04
-  camera3/camera_link:
-    x: -0.10731
-    y: 0.56343
-    z: -0.27697
-    roll: 0.0
-    pitch: 0.325
-    yaw: 2.0943951
-  camera4/camera_link:
-    x: 0.07356
-    y: 0.0
-    z: -0.0525
-    roll: 0.0
-    pitch: -0.03
-    yaw: -0.005
-  camera5/camera_link:
-    x: -0.07356
-    y: 0.0
-    z: -0.0525
-    roll: 0.0
-    pitch: -0.01
-    yaw: 3.125
-  traffic_light_right_camera/camera_link:
-    x: 0.05
-    y: -0.0175
-    z: -0.1
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  traffic_light_left_camera/camera_link:
-    x: 0.05
-    y: 0.0175
-    z: -0.1
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  velodyne_top_base_link:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    roll: 0.0
-    pitch: 0.0
-    yaw: 1.575
-  velodyne_left_base_link:
-    x: 0.0
-    y: 0.59
-    z: -0.30555
-    roll: -0.02
-    pitch: 0.71
-    yaw: 1.575
-  velodyne_right_base_link:
-    x: 0.0
-    y: -0.59
-    z: -0.30555
-    roll: -0.02
-    pitch: 0.71
-    yaw: -1.575
-  gnss_link:
-    x: -0.1
-    y: 0.0
-    z: -0.2
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  tamagawa/imu_link:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    roll: 3.14159265359
-    pitch: 0.0
-    yaw: 3.14159265359
diff --git a/individual_params/config/default/awsim_labs_sensor_kit/sensors_calibration.yaml b/individual_params/config/default/awsim_labs_sensor_kit/sensors_calibration.yaml
deleted file mode 100644
index 97953b8..0000000
--- a/individual_params/config/default/awsim_labs_sensor_kit/sensors_calibration.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-base_link:
-  sensor_kit_base_link:
-    x: 0.9
-    y: 0.0
-    z: 2.0
-    roll: -0.001
-    pitch: 0.015
-    yaw: -0.0364
-  velodyne_rear_base_link:
-    x: -0.358
-    y: 0.0
-    z: 1.631
-    roll: -0.02
-    pitch: 0.7281317
-    yaw: 3.141592
diff --git a/individual_params/config/default/awsim_sensor_kit/sensor_kit_calibration.yaml b/individual_params/config/default/awsim_sensor_kit/sensor_kit_calibration.yaml
deleted file mode 100644
index e174285..0000000
--- a/individual_params/config/default/awsim_sensor_kit/sensor_kit_calibration.yaml
+++ /dev/null
@@ -1,92 +0,0 @@
-sensor_kit_base_link:
-  camera0/camera_link:
-    x: 0.10731
-    y: 0.56343
-    z: -0.27697
-    roll: -0.025
-    pitch: 0.315
-    yaw: 1.035
-  camera1/camera_link:
-    x: -0.10731
-    y: -0.56343
-    z: -0.27697
-    roll: -0.025
-    pitch: 0.32
-    yaw: -2.12
-  camera2/camera_link:
-    x: 0.10731
-    y: -0.56343
-    z: -0.27697
-    roll: -0.00
-    pitch: 0.335
-    yaw: -1.04
-  camera3/camera_link:
-    x: -0.10731
-    y: 0.56343
-    z: -0.27697
-    roll: 0.0
-    pitch: 0.325
-    yaw: 2.0943951
-  camera4/camera_link:
-    x: 0.07356
-    y: 0.0
-    z: -0.0525
-    roll: 0.0
-    pitch: -0.03
-    yaw: -0.005
-  camera5/camera_link:
-    x: -0.07356
-    y: 0.0
-    z: -0.0525
-    roll: 0.0
-    pitch: -0.01
-    yaw: 3.125
-  traffic_light_right_camera/camera_link:
-    x: 0.05
-    y: -0.0175
-    z: -0.1
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  traffic_light_left_camera/camera_link:
-    x: 0.05
-    y: 0.0175
-    z: -0.1
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  velodyne_top_base_link:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    roll: 0.0
-    pitch: 0.0
-    yaw: 1.575
-  velodyne_left_base_link:
-    x: 0.0
-    y: 0.56362
-    z: -0.30555
-    roll: -0.02
-    pitch: 0.71
-    yaw: 1.575
-  velodyne_right_base_link:
-    x: 0.0
-    y: -0.56362
-    z: -0.30555
-    roll: -0.01
-    pitch: 0.71
-    yaw: -1.580
-  gnss_link:
-    x: -0.1
-    y: 0.0
-    z: -0.2
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  tamagawa/imu_link:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    roll: 3.14159265359
-    pitch: 0.0
-    yaw: 3.14159265359
diff --git a/individual_params/config/default/awsim_sensor_kit/sensors_calibration.yaml b/individual_params/config/default/awsim_sensor_kit/sensors_calibration.yaml
deleted file mode 100644
index 97953b8..0000000
--- a/individual_params/config/default/awsim_sensor_kit/sensors_calibration.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-base_link:
-  sensor_kit_base_link:
-    x: 0.9
-    y: 0.0
-    z: 2.0
-    roll: -0.001
-    pitch: 0.015
-    yaw: -0.0364
-  velodyne_rear_base_link:
-    x: -0.358
-    y: 0.0
-    z: 1.631
-    roll: -0.02
-    pitch: 0.7281317
-    yaw: 3.141592
diff --git a/individual_params/config/default/control_launch/accel_map.csv b/individual_params/config/default/control_launch/accel_map.csv
new file mode 100644
index 0000000..5f110b2
--- /dev/null
+++ b/individual_params/config/default/control_launch/accel_map.csv
@@ -0,0 +1,12 @@
+default ,0    ,0.1   ,0.2   ,0.3   ,0.4   ,0.5   ,0.6   ,0.7   ,0.8   ,0.9   ,1     ,1.1   ,1.2   ,1.3
+    0   ,0    ,-0.02 ,-0.02 ,-0.02 ,-0.02 ,-0.02 ,-0.02 ,-0.02 ,-0.02 ,-0.02 ,-0.02 ,-0.02 ,-0.02 ,-0.02
+    0.1 ,0.02 ,0.02  ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,-0.02 ,-0.02
+    0.2 ,0.02 ,0.02  ,0.02  ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,-0.02 ,-0.02
+    0.3 ,0.02 ,0.02  ,0.02  ,0.02  ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,-0.02 ,-0.02
+    0.4 ,0.03 ,0.02  ,0.02  ,0.02  ,0.02  ,0     ,0     ,0     ,0     ,0     ,0     ,0     ,-0.02 ,-0.02
+    0.5 ,0.03 ,0.03  ,0.02  ,0.02  ,0.02  ,0.02  ,0     ,0     ,0     ,0     ,0     ,0     ,-0.02 ,-0.02
+    0.6 ,0.05 ,0.03  ,0.03  ,0.02  ,0.02  ,0.02  ,0.02  ,0     ,0     ,0     ,0     ,0     ,-0.02 ,-0.02
+    0.7 ,0.05 ,0.05  ,0.03  ,0.02  ,0.02  ,0.02  ,0.02  ,0.02  ,0     ,0     ,0     ,0     ,-0.02 ,-0.02
+    0.8 ,0.05 ,0.05  ,0.05  ,0.03  ,0.02  ,0.02  ,0.02  ,0.02  ,0.02  ,0     ,0     ,0     ,-0.02 ,-0.02
+    0.9 ,0.05 ,0.05  ,0.05  ,0.05  ,0.03  ,0.02  ,0.02  ,0.02  ,0.02  ,0.02  ,0     ,0     ,-0.02 ,-0.02
+    1   ,0.05 ,0.05  ,0.05  ,0.05  ,0.05  ,0.03  ,0.02  ,0.02  ,0.02  ,0.02  ,0.02  ,0     ,-0.02 ,-0.02
diff --git a/individual_params/config/default/control_launch/brake_map.csv b/individual_params/config/default/control_launch/brake_map.csv
new file mode 100644
index 0000000..d50d5f2
--- /dev/null
+++ b/individual_params/config/default/control_launch/brake_map.csv
@@ -0,0 +1,10 @@
+default ,0 ,0.1   ,0.2   ,0.3   ,0.4   ,0.5   ,0.6   ,0.7   ,0.8   ,0.9   , 1
+0       ,0 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 , -0.05
+0.1     ,0 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 , -0.05
+0.2     ,0 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 , -0.05
+0.3     ,0 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 , -0.05
+0.4     ,0 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 , -0.05
+0.5     ,0 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 , -0.05
+0.6     ,0 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 , -0.05
+0.7     ,0 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 , -0.05
+0.8     ,0 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 ,-0.05 , -0.05
diff --git a/individual_params/config/default/sample_mobile_robot_sensor/imu_corrector.param.yaml b/individual_params/config/default/sample_mobile_robot_sensor/imu_corrector.param.yaml
new file mode 100644
index 0000000..b240fcf
--- /dev/null
+++ b/individual_params/config/default/sample_mobile_robot_sensor/imu_corrector.param.yaml
@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    angular_velocity_offset_x: 0.00339    # [rad/s]
+    angular_velocity_offset_y: 0.00339    # [rad/s]
+    angular_velocity_offset_z: 0.00339    # [rad/s]
+    angular_velocity_stddev_xx: 0.0   # [rad/s]
+    angular_velocity_stddev_yy: 0.0   # [rad/s]
+    angular_velocity_stddev_zz: 0.0   # [rad/s]
diff --git a/individual_params/config/default/sample_mobile_robot_sensor/sensor_kit_calibration.yaml b/individual_params/config/default/sample_mobile_robot_sensor/sensor_kit_calibration.yaml
new file mode 100644
index 0000000..2190b76
--- /dev/null
+++ b/individual_params/config/default/sample_mobile_robot_sensor/sensor_kit_calibration.yaml
@@ -0,0 +1,15 @@
+sensor_kit_base_link:
+  xt32_top_base_link:
+    x: 0.0
+    y: 0.0
+    z: 0.0
+    roll: 0.0
+    pitch: 0.0
+    yaw: 1.570796327
+  xt32_front_base_link:
+    x: 0.18
+    y: 0.0
+    z: -0.9468
+    roll: 0.0
+    pitch: 0.0
+    yaw: 1.570796327
diff --git a/individual_params/config/default/sample_mobile_robot_sensor/sensors_calibration.yaml b/individual_params/config/default/sample_mobile_robot_sensor/sensors_calibration.yaml
new file mode 100644
index 0000000..9609744
--- /dev/null
+++ b/individual_params/config/default/sample_mobile_robot_sensor/sensors_calibration.yaml
@@ -0,0 +1,15 @@
+base_link:
+  sensor_kit_base_link: # sensor_kit_base_link = xt32_top_base_link
+    x: 0.344
+    y: 0.0
+    z: 1.103
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+  imu_link:
+    x: -0.096
+    y: 0.0
+    z: 0.3886
+    roll: 3.1415926535
+    pitch: 0.0
+    yaw: 1.570796327
diff --git a/individual_params/config/default/sample_mobile_robot_sensor/vehicle_velocity_converter.param.yaml b/individual_params/config/default/sample_mobile_robot_sensor/vehicle_velocity_converter.param.yaml
new file mode 100644
index 0000000..62fef6f
--- /dev/null
+++ b/individual_params/config/default/sample_mobile_robot_sensor/vehicle_velocity_converter.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    speed_scale_factor: 1.0 # [-] speed scale factor
+    velocity_stddev_xx: 0.0852  # [m/s]
+    angular_velocity_stddev_zz: 0.1  # [rad/s]
+    frame_id: base_link
diff --git a/individual_params/config/default/sample_sensor_kit/imu_corrector.param.yaml b/individual_params/config/default/sample_sensor_kit/imu_corrector.param.yaml
deleted file mode 100644
index 55aa40e..0000000
--- a/individual_params/config/default/sample_sensor_kit/imu_corrector.param.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-/**:
-  ros__parameters:
-    angular_velocity_stddev_xx: 0.00339
-    angular_velocity_stddev_yy: 0.00339
-    angular_velocity_stddev_zz: 0.00339
-    angular_velocity_offset_x: -0.005799
-    angular_velocity_offset_y: -0.007148
-    angular_velocity_offset_z: -0.001499
diff --git a/individual_params/config/default/sample_sensor_kit/sensor_kit_calibration.yaml b/individual_params/config/default/sample_sensor_kit/sensor_kit_calibration.yaml
deleted file mode 100644
index e174285..0000000
--- a/individual_params/config/default/sample_sensor_kit/sensor_kit_calibration.yaml
+++ /dev/null
@@ -1,92 +0,0 @@
-sensor_kit_base_link:
-  camera0/camera_link:
-    x: 0.10731
-    y: 0.56343
-    z: -0.27697
-    roll: -0.025
-    pitch: 0.315
-    yaw: 1.035
-  camera1/camera_link:
-    x: -0.10731
-    y: -0.56343
-    z: -0.27697
-    roll: -0.025
-    pitch: 0.32
-    yaw: -2.12
-  camera2/camera_link:
-    x: 0.10731
-    y: -0.56343
-    z: -0.27697
-    roll: -0.00
-    pitch: 0.335
-    yaw: -1.04
-  camera3/camera_link:
-    x: -0.10731
-    y: 0.56343
-    z: -0.27697
-    roll: 0.0
-    pitch: 0.325
-    yaw: 2.0943951
-  camera4/camera_link:
-    x: 0.07356
-    y: 0.0
-    z: -0.0525
-    roll: 0.0
-    pitch: -0.03
-    yaw: -0.005
-  camera5/camera_link:
-    x: -0.07356
-    y: 0.0
-    z: -0.0525
-    roll: 0.0
-    pitch: -0.01
-    yaw: 3.125
-  traffic_light_right_camera/camera_link:
-    x: 0.05
-    y: -0.0175
-    z: -0.1
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  traffic_light_left_camera/camera_link:
-    x: 0.05
-    y: 0.0175
-    z: -0.1
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  velodyne_top_base_link:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    roll: 0.0
-    pitch: 0.0
-    yaw: 1.575
-  velodyne_left_base_link:
-    x: 0.0
-    y: 0.56362
-    z: -0.30555
-    roll: -0.02
-    pitch: 0.71
-    yaw: 1.575
-  velodyne_right_base_link:
-    x: 0.0
-    y: -0.56362
-    z: -0.30555
-    roll: -0.01
-    pitch: 0.71
-    yaw: -1.580
-  gnss_link:
-    x: -0.1
-    y: 0.0
-    z: -0.2
-    roll: 0.0
-    pitch: 0.0
-    yaw: 0.0
-  tamagawa/imu_link:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    roll: 3.14159265359
-    pitch: 0.0
-    yaw: 3.14159265359
diff --git a/individual_params/config/default/sample_sensor_kit/sensors_calibration.yaml b/individual_params/config/default/sample_sensor_kit/sensors_calibration.yaml
deleted file mode 100644
index 97953b8..0000000
--- a/individual_params/config/default/sample_sensor_kit/sensors_calibration.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-base_link:
-  sensor_kit_base_link:
-    x: 0.9
-    y: 0.0
-    z: 2.0
-    roll: -0.001
-    pitch: 0.015
-    yaw: -0.0364
-  velodyne_rear_base_link:
-    x: -0.358
-    y: 0.0
-    z: 1.631
-    roll: -0.02
-    pitch: 0.7281317
-    yaw: 3.141592
diff --git a/individual_params/package.xml b/individual_params/package.xml
index f29ad4b..53cbb91 100644
--- a/individual_params/package.xml
+++ b/individual_params/package.xml
@@ -3,8 +3,8 @@
 <package format="3">
   <name>individual_params</name>
   <version>0.1.0</version>
-  <description>The individual_params package</description>
-  <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
+  <description>The individual_params package for sample_mobile_robot</description>
+  <maintainer email="azumi.suzuki@tier4.jp">azumi-suzuki</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>