diff --git a/jsk_fetch_robot/README.md b/jsk_fetch_robot/README.md
index 6ff38f5314..9aab1b786d 100644
--- a/jsk_fetch_robot/README.md
+++ b/jsk_fetch_robot/README.md
@@ -256,6 +256,24 @@ coordinates can be made with
 ```
 Please see [costmap_2d](http://wiki.ros.org/costmap_2d?distro=melodic), [move_base](http://wiki.ros.org/move_base?distro=melodic), if you would like to understand the self-positioning system in detail.
 
+### Build Map
+
+- Stop jsk_fetch_startup on the supervisor
+
+- Launch slam program
+
+```
+roslaunch jsk_fetch_startup fetch_bringup.launch use_build_map:=true launch_move_base:=false
+```
+
+- You can see built map(`/map`) on Rviz
+
+- Make map_directory and save map
+
+```
+rosrun map_server map_saver -f <map_directory/map_name>
+```
+
 ### Speak
 
 - Use text-to-speech engine to speak text
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
index ac62348398..77aba57170 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -193,12 +193,6 @@
       <arg name="odom_topic" value="/odom_combined" />
     </include>
 
-    <!-- slam for build a map -->
-    <node pkg="slam_karto" type="slam_karto" name="slam_karto"
-          output="screen" if="$(arg use_build_map)" >
-      <remap from="scan" to="base_scan"/>
-    </node>
-
     <!-- load amcl params -->
     <rosparam command="load"
               file="$(find jsk_fetch_startup)/launch/navigation/fetch_amcl_common_params.yaml" />
@@ -211,17 +205,10 @@
               file="$(find jsk_fetch_startup)/launch/navigation/fetch_move_base_$(env ROS_DISTRO)_params.yaml" />
   </group>
 
-  <!-- /imu has no frame_id information and there is no bug fix release in indigo. -->
-  <!-- see https://github.com/fetchrobotics/fetch_ros/issues/70 -->
-  <node name="imu_corrector" pkg="jsk_fetch_startup" type="imu_corrector.py">
-    <remap from="~input" to="/imu" />
-    <remap from="~output" to="/imu_corrected" />
-  </node>
-
-  <!-- /odom has no covariance value. -->
-  <node name="odom_corrector" pkg="jsk_fetch_startup" type="odom_corrector.py">
-    <remap from="~input" to="/odom" />
-    <remap from="~output" to="/odom_corrected" />
+  <!-- slam for build a map -->
+  <node pkg="slam_karto" type="slam_karto" name="slam_karto"
+        output="screen" if="$(arg use_build_map)" >
+    <remap from="scan" to="base_scan"/>
   </node>
 
   <!-- check if room light is on -->