diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 2c02d48..9a04b41 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -1,6 +1,6 @@
 src/common/wheel_stuck_common_utils/** @Autumn60 @Bey9434
 src/control/joy2twist/** @Bey9434
-src/description/wheel_stuck_alpha/** @Autumn60
+src/description/wheel_stuck_go/** @Autumn60
 src/launch/wheel_stuck_launcher/** @Autumn60
 src/launch/wheel_stuck_robot_launcher/** @Autumn60
 src/launch/wheel_stuck_sensing_launcher/** @Autumn60
diff --git a/src/description/wheel_stuck_go/wheel_stuck_go_description/CMakeLists.txt b/src/description/wheel_stuck_go/wheel_stuck_go_description/CMakeLists.txt
index f29b1ab..73abb6f 100644
--- a/src/description/wheel_stuck_go/wheel_stuck_go_description/CMakeLists.txt
+++ b/src/description/wheel_stuck_go/wheel_stuck_go_description/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(wheel_stuck_alpha_description)
+project(wheel_stuck_go_description)
 
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
diff --git a/src/description/wheel_stuck_go/wheel_stuck_go_description/package.xml b/src/description/wheel_stuck_go/wheel_stuck_go_description/package.xml
index 09f21a1..9cbb349 100644
--- a/src/description/wheel_stuck_go/wheel_stuck_go_description/package.xml
+++ b/src/description/wheel_stuck_go/wheel_stuck_go_description/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>wheel_stuck_alpha_description</name>
+  <name>wheel_stuck_go_description</name>
   <version>0.1.0</version>
-  <description>The wheel_stuck_alpha_description package</description>
+  <description>The wheel_stuck_go_description package</description>
   <maintainer email="harada.akiro@gmail.com">Akiro Harada</maintainer>
 
   <license>Apache 2</license>
diff --git a/src/description/wheel_stuck_go/wheel_stuck_go_description/urdf/robot.urdf.xacro b/src/description/wheel_stuck_go/wheel_stuck_go_description/urdf/robot.urdf.xacro
index 6e9c37a..31f5d3b 100644
--- a/src/description/wheel_stuck_go/wheel_stuck_go_description/urdf/robot.urdf.xacro
+++ b/src/description/wheel_stuck_go/wheel_stuck_go_description/urdf/robot.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:property name="robot_info" value="${xacro.load_yaml('$(find wheel_stuck_alpha_description)/config/robot_info.param.yaml')}"/>
+  <xacro:property name="robot_info" value="${xacro.load_yaml('$(find wheel_stuck_go_description)/config/robot_info.param.yaml')}"/>
 
   <link name="base_link"/>
 </robot>
diff --git a/src/description/wheel_stuck_go/wheel_stuck_go_launcher/CMakeLists.txt b/src/description/wheel_stuck_go/wheel_stuck_go_launcher/CMakeLists.txt
index bda331b..4a57fce 100644
--- a/src/description/wheel_stuck_go/wheel_stuck_go_launcher/CMakeLists.txt
+++ b/src/description/wheel_stuck_go/wheel_stuck_go_launcher/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(wheel_stuck_alpha_launcher)
+project(wheel_stuck_go_launcher)
 
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
diff --git a/src/description/wheel_stuck_go/wheel_stuck_go_launcher/package.xml b/src/description/wheel_stuck_go/wheel_stuck_go_launcher/package.xml
index 29f6939..84fdefd 100644
--- a/src/description/wheel_stuck_go/wheel_stuck_go_launcher/package.xml
+++ b/src/description/wheel_stuck_go/wheel_stuck_go_launcher/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>wheel_stuck_alpha_launcher</name>
+  <name>wheel_stuck_go_launcher</name>
   <version>0.1.0</version>
-  <description>The wheel_stuck_alpha_launcher package</description>
+  <description>The wheel_stuck_go_launcher package</description>
   <maintainer email="harada.akiro@gmail.com">Akiro Harada</maintainer>
 
   <license>Apache 2</license>
diff --git a/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_description/CMakeLists.txt b/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_description/CMakeLists.txt
index 1448d77..54fde2f 100644
--- a/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_description/CMakeLists.txt
+++ b/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_description/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(wheel_stuck_alpha_sensor_kit_description)
+project(wheel_stuck_go_sensor_kit_description)
 
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
diff --git a/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_description/package.xml b/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_description/package.xml
index e47342f..1d71a5e 100644
--- a/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_description/package.xml
+++ b/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_description/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>wheel_stuck_alpha_sensor_kit_description</name>
+  <name>wheel_stuck_go_sensor_kit_description</name>
   <version>0.1.0</version>
-  <description>The wheel_stuck_alpha_sensor_kit_description package</description>
+  <description>The wheel_stuck_go_sensor_kit_description package</description>
   <maintainer email="harada.akiro@gmail.com">Akiro Harada</maintainer>
 
   <license>Apache 2</license>
diff --git a/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_description/urdf/sensor_kit.urdf.xacro b/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_description/urdf/sensor_kit.urdf.xacro
index 29af6a3..7313b46 100644
--- a/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_description/urdf/sensor_kit.urdf.xacro
+++ b/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_description/urdf/sensor_kit.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:property name="sensors_calibration" value="${xacro.load_yaml('$(find wheel_stuck_alpha_sensor_kit_description)/config/sensors_calibration.param.yaml')}"/>
+  <xacro:property name="sensors_calibration" value="${xacro.load_yaml('$(find wheel_stuck_go_sensor_kit_description)/config/sensors_calibration.param.yaml')}"/>
 
   <link name="velodyne_base_link"/>
   <joint name="velodyne_base_joint" type="fixed">
diff --git a/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_launcher/CMakeLists.txt b/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_launcher/CMakeLists.txt
index c6116f3..542b9a5 100644
--- a/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_launcher/CMakeLists.txt
+++ b/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_launcher/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(wheel_stuck_alpha_sensor_kit_launcher)
+project(wheel_stuck_go_sensor_kit_launcher)
 
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
diff --git a/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_launcher/package.xml b/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_launcher/package.xml
index 77bab44..838ed04 100644
--- a/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_launcher/package.xml
+++ b/src/description/wheel_stuck_go/wheel_stuck_go_sensor_kit_launcher/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>wheel_stuck_alpha_sensor_kit_launcher</name>
+  <name>wheel_stuck_go_sensor_kit_launcher</name>
   <version>0.1.0</version>
-  <description>The wheel_stuck_alpha_sensor_kit_launcher package</description>
+  <description>The wheel_stuck_go_sensor_kit_launcher package</description>
   <maintainer email="harada.akiro@gmail.com">Akiro Harada</maintainer>
 
   <license>Apache 2</license>
diff --git a/src/launch/wheel_stuck_launcher/launch/wheel_stuck.launch.xml b/src/launch/wheel_stuck_launcher/launch/wheel_stuck.launch.xml
index e099d57..0193198 100644
--- a/src/launch/wheel_stuck_launcher/launch/wheel_stuck.launch.xml
+++ b/src/launch/wheel_stuck_launcher/launch/wheel_stuck.launch.xml
@@ -1,7 +1,7 @@
 <launch>
   <!-- Essential parameters -->
-  <arg name="robot_model" default="wheel_stuck_alpha"/>
-  <arg name="sensor_kit_model" default="wheel_stuck_alpha_sensor_kit"/>
+  <arg name="robot_model" default="wheel_stuck_go"/>
+  <arg name="sensor_kit_model" default="wheel_stuck_go_sensor_kit"/>
 
   <!-- Optional parameters -->
   <arg name="launch_robot" default="true"/>