diff --git a/docs/quick_start/my_detection.launch b/docs/quick_start/my_detection.launch
index 0d001c5f620..bca09e88dbc 100644
--- a/docs/quick_start/my_detection.launch
+++ b/docs/quick_start/my_detection.launch
@@ -10,7 +10,7 @@
   <arg name="camera_calib" default="$(env HOME)/.autoware/data/calibration/camera_lidar_3d/prius/nic-150407.yml"/>
 
   <!-- calibration_publisher -->
-  <include file="$(find runtime_manager)/scripts/calibration_publisher.launch">
+  <include file="$(find runtime_manager)/launch_files/calibration_publisher.launch">
     <arg name="file" value="$(arg camera_calib)" />
     <arg name="register_lidar2camera_tf" value="$(arg is_register_lidar2camera_tf)" />
     <arg name="publish_extrinsic_mat" value="$(arg is_publish_projection_matrix)" />
diff --git a/docs/quick_start/my_localization.launch b/docs/quick_start/my_localization.launch
index f93133baac1..f45b319058e 100644
--- a/docs/quick_start/my_localization.launch
+++ b/docs/quick_start/my_localization.launch
@@ -4,7 +4,7 @@
   <arg name="get_height" value="true" />
 
   <!-- Setup -->
-  <include file="$(find runtime_manager)/scripts/setup_tf.launch">
+  <include file="$(find runtime_manager)/launch_files/setup_tf.launch">
     <arg name="x" value="1.2" />
     <arg name="y" value="0.0" />
     <arg name="z" value="2.0" />
diff --git a/docs/quick_start/my_mission_planning.launch b/docs/quick_start/my_mission_planning.launch
index e82b28e110f..6e79ed1e5cf 100644
--- a/docs/quick_start/my_mission_planning.launch
+++ b/docs/quick_start/my_mission_planning.launch
@@ -6,7 +6,7 @@
 
   <!-- Tablet UI -->
   <!--
-  <include file="$(find runtime_manager)/scripts/tablet_socket.launch"/>
+  <include file="$(find runtime_manager)/launch_files/tablet_socket.launch"/>
   -->
 
   <!-- vel_pose_mux -->
@@ -17,7 +17,7 @@
 
   <!-- waypoint_loader -->
   <node pkg="rostopic" type="rostopic" name="config_waypoint_loader_rostopic"
-        args="pub -l /config/waypoint_loader autoware_config_msgs/ConfigWaypointLoader
+        args="pub -l /config/waypoint_loader autoware_config_msgs/ConfigWaypointReplanner
         '{multi_lane_csv: '$(env HOME)/.autoware/data/path/moriyama_path.txt', replanning_mode: false, velocity_max: 20.0, velocity_min: 4.0, accel_limit: 0.98, decel_limit: 0.98, radius_thresh: 20.0, radius_min: 6.0, resample_mode: true, resample_interval: 1.0, velocity_offset: 4, end_point_offset: 5}' "
   />
   <include file="$(find waypoint_maker)/launch/waypoint_loader.launch" />
diff --git a/docs/quick_start/my_motion_planning.launch b/docs/quick_start/my_motion_planning.launch
index c0f0b6bd673..f95062b683a 100644
--- a/docs/quick_start/my_motion_planning.launch
+++ b/docs/quick_start/my_motion_planning.launch
@@ -1,7 +1,7 @@
 <launch>
 
   <!-- Vehicle Contorl -->
-  <include file="$(find runtime_manager)/scripts/vehicle_socket.launch"/>
+  <include file="$(find runtime_manager)/launch_files/vehicle_socket.launch"/>
 
   <!-- obstacle_avoid -->
   <include file="$(find astar_planner)/launch/obstacle_avoid.launch"/>
diff --git a/docs/quick_start/my_sensing.launch b/docs/quick_start/my_sensing.launch
index aa07367c8db..1c6efb0dbcb 100644
--- a/docs/quick_start/my_sensing.launch
+++ b/docs/quick_start/my_sensing.launch
@@ -5,7 +5,7 @@
   <arg name="camera_calib" default="$(env HOME)/.autoware/data/calibration/camera_lidar_3d/prius/nic-150407.yml"/>
 
   <!-- HDL-32e -->
-  <include file="$(find velodyne_pointcloud)/launch/velodyne_hdl32e.launch">
+  <include file="$(find runtime_manager)/launch_files/velodyne_hdl32e.launch">
     <arg name="calibration" value="$(arg velodyne_calib)"/>
   </include>
 
diff --git a/ros/src/.config/rviz/default.rviz b/ros/src/.config/rviz/default.rviz
index 078c92fd436..5e4f6a37d0e 100644
--- a/ros/src/.config/rviz/default.rviz
+++ b/ros/src/.config/rviz/default.rviz
@@ -19,7 +19,7 @@ Panels:
         - /ERROR1
         - /FATAL1
       Splitter Ratio: 0.695804
-    Tree Height: 1903
+    Tree Height: 725
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -71,20 +71,27 @@ Visualization Manager:
           Value: true
         map:
           Value: true
+        mobility:
+          Value: true
         velodyne:
           Value: true
+        world:
+          Value: true
       Marker Scale: 5
       Name: TF
       Show Arrows: true
       Show Axes: true
       Show Names: true
       Tree:
-        map:
-          base_link:
-            velodyne:
+        world:
+          map:
+            base_link:
+              velodyne:
+                {}
+            gps:
+              {}
+            mobility:
               {}
-          gps:
-            {}
       Update Interval: 0
       Value: true
     - Alpha: 0.0500000007
@@ -122,9 +129,7 @@ Visualization Manager:
       Marker Topic: /vector_map
       Name: Vector Map
       Namespaces:
-        signal: true
-        stop_line: true
-        white_line: true
+        {}
       Queue Size: 100
       Value: true
     - Class: rviz/Camera
@@ -179,26 +184,26 @@ Visualization Manager:
     - Alpha: 0.300000012
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 11.8534737
-        Min Value: 9.73868942
+        Max Value: 23.834404
+        Min Value: -22.5324554
         Value: true
       Axis: Z
       Channel Name: intensity
       Class: rviz/PointCloud2
       Color: 255; 255; 255
-      Color Transformer: AxisColor
+      Color Transformer: Intensity
       Decay Time: 0
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 137
+      Max Intensity: 191
       Min Color: 0; 0; 0
       Min Intensity: 0
       Name: Points Raw
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
-      Size (Pixels): 5
+      Size (Pixels): 2
       Size (m): 0.00999999978
       Style: Points
       Topic: /points_raw
@@ -271,10 +276,7 @@ Visualization Manager:
       Marker Topic: /detection_range
       Name: Detection Range
       Namespaces:
-        Crosswalk Detection: true
-        Decelerate Detection: true
-        Stop Detection: true
-        Stop Line: true
+        {}
       Queue Size: 100
       Value: true
     - Class: rviz/Marker
@@ -282,7 +284,7 @@ Visualization Manager:
       Marker Topic: /next_target_mark
       Name: Next Waypoint Mark
       Namespaces:
-        next_target_marker: true
+        {}
       Queue Size: 100
       Value: true
     - Class: rviz/Marker
@@ -290,7 +292,7 @@ Visualization Manager:
       Marker Topic: /trajectory_circle_mark
       Name: PP Trajectory Mark
       Namespaces:
-        trajectory_circle_marker: true
+        {}
       Queue Size: 100
       Value: true
     - Class: rviz/Marker
@@ -311,11 +313,6 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
       Name: Vehicle Model
       Robot Description: robot_description
       TF Prefix: ""
@@ -357,9 +354,7 @@ Visualization Manager:
       Marker Topic: /local_waypoints_mark
       Name: Local Waypoints
       Namespaces:
-        local_path_marker: true
-        local_point_marker: true
-        local_waypoint_velocity: true
+        {}
       Queue Size: 100
       Value: true
     - Class: rviz/MarkerArray
@@ -367,9 +362,7 @@ Visualization Manager:
       Marker Topic: /global_waypoints_mark
       Name: Global Waypoints
       Namespaces:
-        global_change_flag_lane_1: true
-        global_lane_waypoint_orientation_marker_1: true
-        global_velocity_lane_1: true
+        {}
       Queue Size: 100
       Value: true
     - Class: rviz/Marker
@@ -491,7 +484,8 @@ Visualization Manager:
       top: 30
       update interval: 0.0399999991
       width: 80
-    - Background Alpha: 0.800000012
+    - Align Bottom: false
+      Background Alpha: 0.800000012
       Background Color: 0; 0; 0
       Class: jsk_rviz_plugin/OverlayText
       Enabled: true
@@ -532,7 +526,8 @@ Visualization Manager:
       left: 128
       top: 128
       width: 640
-    - Background Alpha: 0.800000012
+    - Align Bottom: false
+      Background Alpha: 0.800000012
       Background Color: 0; 0; 0
       Class: jsk_rviz_plugin/OverlayText
       Enabled: true
@@ -550,7 +545,8 @@ Visualization Manager:
       text size: 12
       top: 0
       width: 128
-    - Background Alpha: 0.800000012
+    - Align Bottom: false
+      Background Alpha: 0.800000012
       Background Color: 0; 0; 0
       Class: jsk_rviz_plugin/OverlayText
       Enabled: true
@@ -568,7 +564,8 @@ Visualization Manager:
       text size: 12
       top: 0
       width: 128
-    - Background Alpha: 0.800000012
+    - Align Bottom: false
+      Background Alpha: 0.800000012
       Background Color: 0; 0; 0
       Class: jsk_rviz_plugin/OverlayText
       Enabled: true
@@ -586,7 +583,8 @@ Visualization Manager:
       text size: 12
       top: 0
       width: 128
-    - Background Alpha: 0.800000012
+    - Align Bottom: false
+      Background Alpha: 0.800000012
       Background Color: 0; 0; 0
       Class: jsk_rviz_plugin/OverlayText
       Enabled: true
@@ -616,7 +614,7 @@ Visualization Manager:
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: map
+    Fixed Frame: world
     Frame Rate: 30
   Name: root
   Tools:
@@ -646,7 +644,7 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Scale: 19.7382278
+      Scale: 4.56478453
       Target Frame: base_link
       Value: TopDownOrtho (rviz)
       X: 0
@@ -657,12 +655,12 @@ Window Geometry:
     collapsed: false
   Displays:
     collapsed: true
-  Height: 2136
+  Height: 965
   Hide Left Dock: true
   Hide Right Dock: false
   Image:
     collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time:
@@ -671,6 +669,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 3775
-  X: 65
-  Y: 24
+  Width: 1600
+  X: 173
+  Y: 48