diff --git a/jsk_2015_06_hrp_drc/drc_task_common/euslisp/vehicle/robot-driving-controller.l b/jsk_2015_06_hrp_drc/drc_task_common/euslisp/vehicle/robot-driving-controller.l
index 7e194f0e78..8fd814907a 100644
--- a/jsk_2015_06_hrp_drc/drc_task_common/euslisp/vehicle/robot-driving-controller.l
+++ b/jsk_2015_06_hrp_drc/drc_task_common/euslisp/vehicle/robot-driving-controller.l
@@ -58,22 +58,22 @@
          )
 
    ;; subscriber for operator command
-   (ros::subscribe "/staro_drive/operation/accel_cmd"
+   (ros::subscribe "/drive/operation/accel_cmd"
                    std_msgs::Float64
                    #'send self :accel-callback)
-   (ros::subscribe "/staro_drive/operation/brake_cmd"
+   (ros::subscribe "/drive/operation/brake_cmd"
                    std_msgs::Float64
                    #'send self :brake-callback)
-   (ros::subscribe "/staro_drive/operation/grasp_cmd"
+   (ros::subscribe "/drive/operation/grasp_cmd"
                    std_msgs::String
                    #'send self :grasp-callback)
-   (ros::subscribe "/staro_drive/operation/handle_cmd"
+   (ros::subscribe "/drive/operation/handle_cmd"
                    std_msgs::Float64
                    #'send self :handle-callback)
    (ros::subscribe "/rfsensor"
                    geometry_msgs::WrenchStamped
                    #'send self :rfsensor-callback)
-   (ros::advertise "/staro_drive/pedal_state" std_msgs::Bool 1)
+   (ros::advertise "/drive/pedal_state" std_msgs::Bool 1)
    )
 
   ;; handle command
@@ -182,7 +182,7 @@
      )
    (let ((pub-msg (instance std_msgs::Bool :init)))
      (send pub-msg :data accel-flag)
-     (ros::publish "/staro_drive/pedal_state" pub-msg)
+     (ros::publish "/drive/pedal_state" pub-msg)
      )
    )
   (:brake-callback
diff --git a/jsk_2015_06_hrp_drc/drc_task_common/launch/fc/vehicle/handle_operation_interface.launch b/jsk_2015_06_hrp_drc/drc_task_common/launch/fc/vehicle/handle_operation_interface.launch
index 46e4b3f9dc..45e8734686 100644
--- a/jsk_2015_06_hrp_drc/drc_task_common/launch/fc/vehicle/handle_operation_interface.launch
+++ b/jsk_2015_06_hrp_drc/drc_task_common/launch/fc/vehicle/handle_operation_interface.launch
@@ -8,8 +8,8 @@
 
   <node pkg="drc_task_common" type="DriveCmdInterrupter.py" name="drive_cmd_interrupter" output="screen"/>
 
-  <node pkg="topic_tools" type="throttle" name="handle_throttle" args="messages /staro_drive/operation/handle_cmd_raw 100 /staro_drive/operation/handle_cmd" />
-  <node pkg="topic_tools" type="throttle" name="accel_throttle" args="messages /staro_drive/operation/accel_cmd_raw 100 /staro_drive/operation/accel_cmd" />
-  <node pkg="topic_tools" type="throttle" name="brake_throttle" args="messages /staro_drive/operation/brake_cmd_raw 100 /staro_drive/operation/brake_cmd" />
+  <node pkg="topic_tools" type="throttle" name="handle_throttle" args="messages /drive/operation/handle_cmd_raw 100 /drive/operation/handle_cmd" />
+  <node pkg="topic_tools" type="throttle" name="accel_throttle" args="messages /drive/operation/accel_cmd_raw 100 /drive/operation/accel_cmd" />
+  <node pkg="topic_tools" type="throttle" name="brake_throttle" args="messages /drive/operation/brake_cmd_raw 100 /drive/operation/brake_cmd" />
   
 </launch>
diff --git a/jsk_2015_06_hrp_drc/drc_task_common/src/drc_task_common/DriveCmdInterrupter.py b/jsk_2015_06_hrp_drc/drc_task_common/src/drc_task_common/DriveCmdInterrupter.py
index 3cf008e7cb..16bd9b77c6 100755
--- a/jsk_2015_06_hrp_drc/drc_task_common/src/drc_task_common/DriveCmdInterrupter.py
+++ b/jsk_2015_06_hrp_drc/drc_task_common/src/drc_task_common/DriveCmdInterrupter.py
@@ -19,15 +19,15 @@ def __init__(self, node_name = "command_selector", rate = 10.0):
         rospy.Subscriber("/handle_controller/accel", Float64, self.accel_cmd_callback)
         rospy.Subscriber("/handle_controller/brake", Float64, self.brake_cmd_callback)
         rospy.Subscriber("/handle_controller/gear", Int8, self.recognition_flag_callback)
-        rospy.Subscriber("/staro_drive/grasp_cmd", String, self.grasp_cmd_callback)
+        rospy.Subscriber("/drive/grasp_cmd", String, self.grasp_cmd_callback)
         
         # publisher
-        self.handle_publisher = rospy.Publisher("/staro_drive/operation/handle_cmd_raw", Float64)
-        self.accel_publisher = rospy.Publisher("/staro_drive/operation/accel_cmd_raw", Float64)
-        self.brake_publisher = rospy.Publisher("/staro_drive/operation/brake_cmd_raw", Float64)
-        self.grasp_publisher = rospy.Publisher("/staro_drive/operation/grasp_cmd", String)
-        self.operation_flag_handle_publisher = rospy.Publisher("/staro_drive/operation/flag/handle", Bool)
-        self.operation_flag_pedal_publisher = rospy.Publisher("/staro_drive/operation/flag/pedal", Bool)
+        self.handle_publisher = rospy.Publisher("/drive/operation/handle_cmd_raw", Float64)
+        self.accel_publisher = rospy.Publisher("/drive/operation/accel_cmd_raw", Float64)
+        self.brake_publisher = rospy.Publisher("/drive/operation/brake_cmd_raw", Float64)
+        self.grasp_publisher = rospy.Publisher("/drive/operation/grasp_cmd", String)
+        self.operation_flag_handle_publisher = rospy.Publisher("/drive/operation/flag/handle", Bool)
+        self.operation_flag_pedal_publisher = rospy.Publisher("/drive/operation/flag/pedal", Bool)
         
     def set_operation_flag(self, pub, flag):
         operation_flag = Bool()