diff --git a/CMakeLists.txt b/CMakeLists.txt
index b1bc7ba..f314d6a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,6 +17,7 @@ find_package(ament_cmake REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(aruku REQUIRED)
 find_package(aruku_interfaces REQUIRED)
+find_package(atama REQUIRED)
 find_package(atama_interfaces REQUIRED)
 find_package(kansei REQUIRED)
 find_package(kansei_interfaces REQUIRED)
@@ -46,6 +47,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 ament_target_dependencies(${PROJECT_NAME}
   aruku
   aruku_interfaces
+  atama
   atama_interfaces
   kansei
   kansei_interfaces
@@ -110,6 +112,7 @@ ament_export_dependencies(
   ament_index_cpp
   aruku
   aruku_interfaces
+  atama
   atama_interfaces
   kansei
   kansei_interfaces
diff --git a/include/suiryoku/locomotion/model/robot.hpp b/include/suiryoku/locomotion/model/robot.hpp
index 86c4517..9321413 100644
--- a/include/suiryoku/locomotion/model/robot.hpp
+++ b/include/suiryoku/locomotion/model/robot.hpp
@@ -37,7 +37,6 @@ class Robot
   keisan::Angle<double> get_tilt() const;
 
   // member for getting
-  bool is_calibrated;
   keisan::Angle<double> orientation;
   keisan::Point2 position;
 
diff --git a/package.xml b/package.xml
index e2c329f..08c75f3 100644
--- a/package.xml
+++ b/package.xml
@@ -10,6 +10,7 @@
   <depend>ament_index_cpp</depend>
   <depend>aruku</depend>
   <depend>aruku_interfaces</depend>
+  <depend>atama</depend>
   <depend>atama_interfaces</depend>
   <depend>kansei</depend>
   <depend>kansei_interfaces</depend>
diff --git a/src/suiryoku/locomotion/model/robot.cpp b/src/suiryoku/locomotion/model/robot.cpp
index 6e18c78..1158042 100644
--- a/src/suiryoku/locomotion/model/robot.cpp
+++ b/src/suiryoku/locomotion/model/robot.cpp
@@ -18,10 +18,10 @@
 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 // THE SOFTWARE.
 
-#include <string>
-
 #include "suiryoku/locomotion/model/robot.hpp"
 
+#include <string>
+
 #include "keisan/keisan.hpp"
 
 using keisan::literals::operator""_deg;
@@ -30,21 +30,25 @@ namespace suiryoku
 {
 
 Robot::Robot()
-: pan(0_deg), tilt(0_deg), pan_center(0_deg), tilt_center(0_deg), x_speed(0.0),
-  y_speed(0.0), a_speed(0.0), aim_on(false), is_walking(false),
-  orientation(0_deg), position(0.0, 0.0), x_amplitude(0.0), y_amplitude(0.0),
-  a_amplitude(0.0), is_calibrated(false)
+: pan(0_deg),
+  tilt(0_deg),
+  pan_center(0_deg),
+  tilt_center(0_deg),
+  x_speed(0.0),
+  y_speed(0.0),
+  a_speed(0.0),
+  aim_on(false),
+  is_walking(false),
+  orientation(0_deg),
+  position(0.0, 0.0),
+  x_amplitude(0.0),
+  y_amplitude(0.0),
+  a_amplitude(0.0)
 {
 }
 
-keisan::Angle<double> Robot::get_pan() const
-{
-  return pan + pan_center;
-}
+keisan::Angle<double> Robot::get_pan() const { return pan + pan_center; }
 
-keisan::Angle<double> Robot::get_tilt() const
-{
-  return tilt + tilt_center;
-}
+keisan::Angle<double> Robot::get_tilt() const { return tilt + tilt_center; }
 
 }  // namespace suiryoku
diff --git a/src/suiryoku/locomotion/node/locomotion_node.cpp b/src/suiryoku/locomotion/node/locomotion_node.cpp
index 0ca5e76..7788a2b 100644
--- a/src/suiryoku/locomotion/node/locomotion_node.cpp
+++ b/src/suiryoku/locomotion/node/locomotion_node.cpp
@@ -18,12 +18,13 @@
 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 // THE SOFTWARE.
 
+#include "suiryoku/locomotion/node/locomotion_node.hpp"
+
 #include <memory>
 #include <string>
 
-#include "suiryoku/locomotion/node/locomotion_node.hpp"
-
 #include "aruku/walking/walking.hpp"
+#include "atama/head/head.hpp"
 #include "kansei/measurement/measurement.hpp"
 #include "keisan/keisan.hpp"
 #include "nlohmann/json.hpp"
@@ -33,32 +34,25 @@
 namespace suiryoku
 {
 
-std::string LocomotionNode::get_node_prefix()
-{
-  return "locomotion";
-}
+std::string LocomotionNode::get_node_prefix() { return "locomotion"; }
 
-LocomotionNode::LocomotionNode(
-  rclcpp::Node::SharedPtr node, std::shared_ptr<Locomotion> locomotion)
+LocomotionNode::LocomotionNode(rclcpp::Node::SharedPtr node, std::shared_ptr<Locomotion> locomotion)
 : locomotion(locomotion), robot(locomotion->get_robot()), walking_state(false)
 {
-  set_walking_publisher = node->create_publisher<SetWalking>(
-    aruku::WalkingNode::set_walking_topic(), 10);
+  set_walking_publisher =
+    node->create_publisher<SetWalking>(aruku::WalkingNode::set_walking_topic(), 10);
 
   measurement_status_subscriber = node->create_subscription<MeasurementStatus>(
-    "/measurement/orientation", 10,
+    kansei::measurement::MeasurementNode::status_topic(), 10,
     [this](const MeasurementStatus::SharedPtr message) {
-      this->robot->is_calibrated = message->is_calibrated;
       this->robot->orientation = keisan::make_degree(message->orientation.yaw);
     });
 
-  set_odometry_publisher = node->create_publisher<Point2>(
-    aruku::WalkingNode::set_odometry_topic(), 10);
+  set_odometry_publisher =
+    node->create_publisher<Point2>(aruku::WalkingNode::set_odometry_topic(), 10);
 
   walking_status_subscriber = node->create_subscription<WalkingStatus>(
-    aruku::WalkingNode::status_topic(), 10,
-    [this](const WalkingStatus::SharedPtr message)
-    {
+    aruku::WalkingNode::status_topic(), 10, [this](const WalkingStatus::SharedPtr message) {
       this->robot->is_walking = message->is_running;
       this->robot->x_amplitude = message->x_amplitude;
       this->robot->y_amplitude = message->y_amplitude;
@@ -68,20 +62,16 @@ LocomotionNode::LocomotionNode(
     });
 
   head_subscriber = node->create_subscription<Head>(
-    "/head/set_head_data", 10,
-    [this](const Head::SharedPtr message) {
+    atama::HeadNode::head_topic(), 10, [this](const Head::SharedPtr message) {
       this->robot->pan = keisan::make_degree(message->pan_angle);
       this->robot->tilt = keisan::make_degree(message->tilt_angle);
     });
 
-  locomotion->stop = [this]() {this->walking_state = false;};
-  locomotion->start = [this]() {this->walking_state = true;};
+  locomotion->stop = [this]() { this->walking_state = false; };
+  locomotion->start = [this]() { this->walking_state = true; };
 }
 
-void LocomotionNode::update()
-{
-  publish_walking();
-}
+void LocomotionNode::update() { publish_walking(); }
 
 void LocomotionNode::publish_walking()
 {