diff --git a/jsk_fetch_robot/README.md b/jsk_fetch_robot/README.md
index 9aab1b786d..81dd67bb6e 100644
--- a/jsk_fetch_robot/README.md
+++ b/jsk_fetch_robot/README.md
@@ -96,6 +96,19 @@ or
 Gazebo can be used for simulating robot's movements.
 It is unable to communicate to the real robot when running the simulation.
 
+#### Create the environment
+
+``` bash
+cd catkin_ws/src
+vcs import < jsk-ros-pkg/jsk_robot/jsk_fetch_robot/jsk_fetch_gazebo.noetic.repos
+rosdep install -y -r --from-paths . --ignore-src
+cd ../
+catkin build
+source devel/setup.bash
+```
+
+#### How to run
+
 ```bash
 roslaunch fetch_gazebo simulation.launch
 roslaunch fetch_moveit_config move_group.launch
@@ -106,6 +119,11 @@ Roseus script can be executed on Gazebo. The whole demo is in `jsk_fetch_gazebo_
 roslaunch jsk_fetch_gazebo_demo demo.launch
 ```
 
+If you want to spawn 73B2 model
+```bash
+roslaunch jsk_fetch_startup fetch_gazebo_73b2.launch
+```
+
 ## Fetcheus APIs
 
 ### Common
@@ -357,7 +375,7 @@ c.f.
 furushchev@fetch15:/var/log/ros$ ls -lFahd
 drwxrwsr-x 381 ros ros 36K Nov  2 01:45 ./
 furushchev@pr2:/var/log/ros$ ls -lFahd
-drwxr-xr-x 6 ros ros 36K 11月  1 15:25 ./
+drwxr-xr-x 6 ros ros 36K 11 月  1 15:25 ./
 ```
 
 - change script for auto `undocking` to disable auto rotatation after unplugged
diff --git a/jsk_fetch_robot/jsk_fetch_gazebo.noetic.repos b/jsk_fetch_robot/jsk_fetch_gazebo.noetic.repos
new file mode 100644
index 0000000000..e37270f5ff
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_gazebo.noetic.repos
@@ -0,0 +1,9 @@
+repositories:
+  ZebraDevs/fetch_gazebo:
+    type: git
+    url: git@github.com:ZebraDevs/fetch_gazebo
+    version: gazebo11
+  GT-RAIL/robot_pose_publisher:
+    type: git
+    url: git@github.com:GT-RAIL/robot_pose_publisher
+    version: develop
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/gazebo/fetch_gazebo_73b2.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/gazebo/fetch_gazebo_73b2.launch
index e3c898326c..07c568abfa 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/gazebo/fetch_gazebo_73b2.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/gazebo/fetch_gazebo_73b2.launch
@@ -3,6 +3,7 @@
   <arg name="INITIAL_POSE_Y" default="0.0" />
   <arg name="INITIAL_POSE_Z" default="0.0" />
   <arg name="INITIAL_POSE_YAW" default="0.0" />
+  <arg name="launch_move_base" default="false" />
 
   <include file="$(find jsk_fetch_startup)/launch/fetch_gazebo_bringup.launch">
     <arg name="world" value="$(find eusurdf)/worlds/room73b2.world" />
@@ -11,6 +12,7 @@
     <arg name="INITIAL_POSE_Y" value="$(arg INITIAL_POSE_Y)" />
     <arg name="INITIAL_POSE_Z" value="$(arg INITIAL_POSE_Z)" />
     <arg name="INITIAL_POSE_YAW" value="$(arg INITIAL_POSE_YAW)" />
+    <arg name="launch_move_base" default="$(arg launch_move_base)" />
   </include>
 
   <node name="initial_pose_publisher" output="screen"