diff --git a/README.md b/README.md
index 0ae4a874..1e153a8e 100644
--- a/README.md
+++ b/README.md
@@ -196,10 +196,6 @@ ros2 service call /motor_power std_srvs/srv/SetBool data:\ false
 ros2 service call /motor_power std_srvs/srv/SetBool data:\ true
 ```  
 
-## Notes
-本パッケージで使用されているRPLIDAR A1制御用のパッケージ（[allenh1/rplidar_ros](https://github.com/allenh1/rplidar_ros)）はコミュニティがメンテナンスしているパッケージです。  
-メーカ公式のパッケージ（[Slamtec/sllidar_ros2](https://github.com/Slamtec/sllidar_ros2)）がリリースされたら置き換える予定です。  
-
 
 <a name="License"></a>
 # License
diff --git a/raspimouse_navigation/CHANGELOG.rst b/raspimouse_navigation/CHANGELOG.rst
index 505f3d5b..7fa68d29 100644
--- a/raspimouse_navigation/CHANGELOG.rst
+++ b/raspimouse_navigation/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package raspimouse_navigation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.0 (2024-03-05)
+------------------
+* Use rplidar_a1_launch.py because rplidar.launch.py does not exist. (`#8 <https://github.com/rt-net/raspimouse_slam_navigation_ros2/issues/8>`_)
+* Contributors: Shota Aoki
+
 2.0.0 (2023-08-04)
 ------------------
 * Humble対応 (`#6 <https://github.com/rt-net/raspimouse_slam_navigation_ros2/issues/6>`_)
diff --git a/raspimouse_navigation/launch/robot_navigation.launch.py b/raspimouse_navigation/launch/robot_navigation.launch.py
index 888e58d6..9c73cf46 100644
--- a/raspimouse_navigation/launch/robot_navigation.launch.py
+++ b/raspimouse_navigation/launch/robot_navigation.launch.py
@@ -68,7 +68,7 @@ def generate_launch_description():
         PythonLaunchDescriptionSource([os.path.join(
             get_package_share_directory('rplidar_ros'),
             'launch'),
-            '/rplidar.launch.py']),
+            '/rplidar_a1_launch.py']),
         launch_arguments={'serial_port': lidar_port,
                           'frame_id': LaunchConfiguration('lidar_frame')
                           }.items(),
diff --git a/raspimouse_navigation/package.xml b/raspimouse_navigation/package.xml
index c2121e51..402cc3e4 100644
--- a/raspimouse_navigation/package.xml
+++ b/raspimouse_navigation/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>raspimouse_navigation</name>
-    <version>2.0.0</version>
+    <version>2.1.0</version>
     <description>Navigation package for Raspberry Pi Mouse</description>
     <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>
 
diff --git a/raspimouse_slam/CHANGELOG.rst b/raspimouse_slam/CHANGELOG.rst
index 628c3f56..90577952 100644
--- a/raspimouse_slam/CHANGELOG.rst
+++ b/raspimouse_slam/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package raspimouse_slam
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.0 (2024-03-05)
+------------------
+* Use rplidar_a1_launch.py because rplidar.launch.py does not exist. (`#8 <https://github.com/rt-net/raspimouse_slam_navigation_ros2/issues/8>`_)
+* Contributors: Shota Aoki
+
 2.0.0 (2023-08-04)
 ------------------
 * Humble対応 (`#6 <https://github.com/rt-net/raspimouse_slam_navigation_ros2/issues/6>`_)
diff --git a/raspimouse_slam/launch/robot_bringup.launch.py b/raspimouse_slam/launch/robot_bringup.launch.py
index f5ff23a6..399945ab 100644
--- a/raspimouse_slam/launch/robot_bringup.launch.py
+++ b/raspimouse_slam/launch/robot_bringup.launch.py
@@ -78,7 +78,7 @@ def generate_launch_description():
         PythonLaunchDescriptionSource([os.path.join(
             get_package_share_directory('rplidar_ros'),
             'launch'),
-            '/rplidar.launch.py']),
+            '/rplidar_a1_launch.py']),
         launch_arguments={'serial_port': lidar_port,
                           'frame_id': LaunchConfiguration('lidar_frame')
                           }.items(),
diff --git a/raspimouse_slam/package.xml b/raspimouse_slam/package.xml
index 2d2a14c5..492f0fc0 100644
--- a/raspimouse_slam/package.xml
+++ b/raspimouse_slam/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>raspimouse_slam</name>
-    <version>2.0.0</version>
+    <version>2.1.0</version>
     <description>SLAM package for Raspberry Pi Mouse</description>
     <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>
 
diff --git a/raspimouse_slam_navigation/CHANGELOG.rst b/raspimouse_slam_navigation/CHANGELOG.rst
index 37e222b9..925e1c5a 100644
--- a/raspimouse_slam_navigation/CHANGELOG.rst
+++ b/raspimouse_slam_navigation/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package raspimouse_slam_navigation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.0 (2024-03-05)
+------------------
+
 2.0.0 (2023-08-04)
 ------------------
 
diff --git a/raspimouse_slam_navigation/package.xml b/raspimouse_slam_navigation/package.xml
index 5217d1ca..9539c8d7 100644
--- a/raspimouse_slam_navigation/package.xml
+++ b/raspimouse_slam_navigation/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>raspimouse_slam_navigation</name>
-    <version>2.0.0</version>
+    <version>2.1.0</version>
     <description>SLAM and navigation packages for Raspberry Pi Mouse V3</description>
     <maintainer email="shop@rt-net.jp">RT Corporation</maintainer>