diff --git a/jsk_hrp2_ros_bridge/config/hrp2007_hrpsys_dashboard.yaml b/jsk_hrp2_ros_bridge/config/hrp2007_hrpsys_dashboard.yaml
deleted file mode 100644
index 7a6413aa..00000000
--- a/jsk_hrp2_ros_bridge/config/hrp2007_hrpsys_dashboard.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-hrpsys_rtcd_start_command: "xterm -T \"RTCD\" -e '`rospack find jsk_hrp2_ros_bridge`/scripts/rtcd_start_command.sh --remote'"
-hrpsys_rtcd_stop_command: "xterm -e \"ssh grxuser@hrp2007c 'sudo pkill rtcd'\""
-
-hrpsys_servo_start_command: "xterm -T \"PowerServoOn\" -e \"ssh grxuser@hrp2007c 'export PS1=grxuser; source ~/.bashrc; python -i /home/grxuser/prog/rtmros_hrp2/jsk_hrp2_ros_bridge/scripts/hrp2007c_setup.py --servoOn | tee /tmp/servoOn.log'\""
-hrpsys_servo_stop_command: "xterm -T \"PowerServoOff\" -e \"ssh grxuser@hrp2007c 'export PS1=grxuser; source ~/.bashrc; python -i /home/grxuser/prog/rtmros_hrp2/jsk_hrp2_ros_bridge/scripts/hrp2007c_setup.py --servoOff | tee /tmp/servoOff.log'\""
-
-hrpsys_ros_bridge_start_command: "xterm -T \"OpenNI\" -e \"export PS1=$USER && source ~/.$(basename $SHELL)rc && rossetmaster hrp2007v 10007 && rossetip && bash `rospack find jsk_hrp2_ros_bridge`/scripts/hrp2-launch-ros-bridge.sh\""
-hrpsys_ros_bridge_stop_command: "xterm -e \"ssh hrpuser@hrp2007v 'pgrep -f roslaunch.*hrp2007.launch | xargs -n 1 kill'\"; pgrep -f roslaunch.*hrp2007_auditor.launch | xargs -n 1 kill"
diff --git a/jsk_hrp2_ros_bridge/config/hrp2008_hrpsys_dashboard.yaml b/jsk_hrp2_ros_bridge/config/hrp2008_hrpsys_dashboard.yaml
deleted file mode 100644
index 815997df..00000000
--- a/jsk_hrp2_ros_bridge/config/hrp2008_hrpsys_dashboard.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-hrpsys_rtcd_start_command: "xterm -T \"RTCD\" -e '`rospack find jsk_hrp2_ros_bridge`/scripts/rtcd_start_command.sh --remote'"
-hrpsys_rtcd_stop_command: "xterm -e \"ssh grxuser@hrp2008c 'sudo pkill rtcd'\""
-
-hrpsys_servo_start_command: "xterm -T \"PowerServoOn\" -e \"ssh grxuser@hrp2008c 'export PS1=grxuser; source ~/.bashrc; python -i /home/grxuser/prog/rtmros_hrp2/jsk_hrp2_ros_bridge/scripts/hrp2008c_setup.py --servoOn | tee /tmp/servoOn.log'\""
-hrpsys_servo_stop_command: "xterm -T \"PowerServoOff\" -e \"ssh grxuser@hrp2008c 'export PS1=grxuser; source ~/.bashrc; python -i /home/grxuser/prog/rtmros_hrp2/jsk_hrp2_ros_bridge/scripts/hrp2008c_setup.py --servoOff | tee /tmp/servoOff.log'\""
-
-hrpsys_ros_bridge_start_command: "xterm -T \"OpenNI\" -e \"export PS1=$USER && source ~/.$(basename $SHELL)rc rossetmaster hrp2008v 10008 && rossetip && bash `rospack find jsk_hrp2_ros_bridge`/scripts/hrp2-launch-ros-bridge.sh\""
-hrpsys_ros_bridge_stop_command: "xterm -e \"ssh hrpuser@hrp2008v 'pgrep -f roslaunch.*hrp2008.launch | xargs -n 1 kill'\"; pgrep -f roslaunch.*hrp2008_auditor.launch | xargs -n 1 kill"
diff --git a/jsk_hrp2_ros_bridge/config/hrp2016_hrpsys_dashboard.yaml b/jsk_hrp2_ros_bridge/config/hrp2016_hrpsys_dashboard.yaml
deleted file mode 100644
index 0af842a3..00000000
--- a/jsk_hrp2_ros_bridge/config/hrp2016_hrpsys_dashboard.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-hrpsys_rtcd_start_command: "xterm -T \"RTCD\" -e '`rospack find jsk_hrp2_ros_bridge`/scripts/rtcd_start_command.sh --remote'"
-hrpsys_rtcd_stop_command: "xterm -e \"ssh grxuser@hrp2016c 'sudo pkill rtcd'\""
-
-hrpsys_servo_start_command: "xterm -T \"PowerServoOn\" -e \"ssh grxuser@hrp2016c 'export PS1=grxuser; source ~/.bashrc; python -i /home/grxuser/prog/rtmros_hrp2/jsk_hrp2_ros_bridge/scripts/hrp2016c_setup.py --servoOn | tee /tmp/servoOn.log'\""
-hrpsys_servo_stop_command: "xterm -T \"PowerServoOff\" -e \"ssh grxuser@hrp2016c 'export PS1=grxuser; source ~/.bashrc; python -i /home/grxuser/prog/rtmros_hrp2/jsk_hrp2_ros_bridge/scripts/hrp2016c_setup.py --servoOff | tee /tmp/servoOff.log'\""
-
-hrpsys_ros_bridge_start_command: "xterm -T \"OpenNI\" -e \"export PS1=$USER && source ~/.$(basename $SHELL)rc && rossetmaster hrp2016v 10016 && rossetip && bash `rospack find jsk_hrp2_ros_bridge`/scripts/hrp2-launch-ros-bridge.sh\""
-hrpsys_ros_bridge_stop_command: "xterm -e \"ssh hrpuser@hrp2016v 'pgrep -f roslaunch.*hrp2016.launch | xargs -n 1 kill'\"; pgrep -f roslaunch.*hrp2016_auditor.launch | xargs -n 1 kill"
diff --git a/jsk_hrp2_ros_bridge/config/hrp2017_hrpsys_dashboard.yaml b/jsk_hrp2_ros_bridge/config/hrp2017_hrpsys_dashboard.yaml
deleted file mode 100644
index 59142845..00000000
--- a/jsk_hrp2_ros_bridge/config/hrp2017_hrpsys_dashboard.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-hrpsys_rtcd_start_command: "xterm -T \"RTCD\" -e '`rospack find jsk_hrp2_ros_bridge`/scripts/rtcd_start_command.sh --remote'"
-hrpsys_rtcd_stop_command: "xterm -e \"ssh grxuser@hrp2017c 'sudo pkill rtcd'\""
-
-hrpsys_servo_start_command: "xterm -T \"PowerServoOn\" -e \"ssh grxuser@hrp2017c 'export PS1=grxuser; source ~/.bashrc; python -i /home/grxuser/prog/rtmros_hrp2/jsk_hrp2_ros_bridge/scripts/hrp2017c_setup.py --servoOn | tee /tmp/servoOn.log'\""
-hrpsys_servo_stop_command: "xterm -T \"PowerServoOff\" -e \"ssh grxuser@hrp2017c 'export PS1=grxuser; source ~/.bashrc; python -i /home/grxuser/prog/rtmros_hrp2/jsk_hrp2_ros_bridge/scripts/hrp2017c_setup.py --servoOff | tee /tmp/servoOff.log'\""
-
-hrpsys_ros_bridge_start_command: "xterm -T \"OpenNI\" -e \"export PS1=$USER && source ~/.$(basename $SHELL)rc && rossetmaster hrp2017v 10017 && rossetip && bash `rospack find jsk_hrp2_ros_bridge`/scripts/hrp2017-launch-ros-bridge.sh\""
-hrpsys_ros_bridge_stop_command: "xterm -e \"ssh hrpuser@hrp2017v 'pgrep -f roslaunch.*hrp2017.launch | xargs -n 1 kill'\"; pgrep -f roslaunch.*hrp2017_auditor.launch | xargs -n 1 kill"
diff --git a/jsk_hrp2_ros_bridge/config/hrpsys_dashboard.yaml b/jsk_hrp2_ros_bridge/config/hrpsys_dashboard.yaml
new file mode 100644
index 00000000..602b07b4
--- /dev/null
+++ b/jsk_hrp2_ros_bridge/config/hrpsys_dashboard.yaml
@@ -0,0 +1,8 @@
+hrpsys_rtcd_start_command: "xterm -T \"RTCD\" -e '`rospack find jsk_hrp2_ros_bridge`/scripts/rtcd_start_command.sh --remote'"
+hrpsys_rtcd_stop_command: "xterm -e \"ssh grxuser@hrp$(expr $HRP2NO + 2000)c 'sudo pkill rtcd'\""
+
+hrpsys_servo_start_command: "xterm -T \"PowerServoOn\" -e \"ssh grxuser@hrp$(expr $HRP2NO + 2000)c 'export PS1=grxuser; source ~/.bashrc; python -i /home/grxuser/prog/rtmros_hrp2/jsk_hrp2_ros_bridge/scripts/hrp$(expr $HRP2NO + 2000)c_setup.py --servoOn | tee /tmp/servoOn.log'\""
+hrpsys_servo_stop_command: "xterm -T \"PowerServoOff\" -e \"ssh grxuser@hrp$(expr $HRP2NO + 2000)c 'export PS1=grxuser; source ~/.bashrc; python -i /home/grxuser/prog/rtmros_hrp2/jsk_hrp2_ros_bridge/scripts/hrp$(expr $HRP2NO + 2000)c_setup.py --servoOff | tee /tmp/servoOff.log'\""
+
+hrpsys_ros_bridge_start_command: "xterm -T \"Auditor\" -e \"export PS1=$USER && source ~/.$(basename $SHELL)rc && rossetmaster hrp$(expr $HRP2NO + 2000)v $(expr $HRP2NO + 10000) && rossetip && bash `rospack find jsk_hrp2_ros_bridge`/scripts/hrp2-launch-ros-bridge.sh\""
+hrpsys_ros_bridge_stop_command: "xterm -e \"ssh hrpuser@hrp$(expr $HRP2NO + 2000)v 'pgrep -f roslaunch.*hrp$(expr $HRP2NO + 2000).launch | xargs -n 1 kill'\"; pgrep -f roslaunch.*hrp$(expr $HRP2NO + 2000)_auditor.launch | xargs -n 1 kill"
diff --git a/jsk_hrp2_ros_bridge/desktop/Launch_Dashboard.desktop b/jsk_hrp2_ros_bridge/desktop/Launch_Dashboard.desktop
index e363e069..3e92bd9f 100755
--- a/jsk_hrp2_ros_bridge/desktop/Launch_Dashboard.desktop
+++ b/jsk_hrp2_ros_bridge/desktop/Launch_Dashboard.desktop
@@ -3,7 +3,7 @@ Version=1.0
 Encoding=UTF-8
 Name=Launch Dashboard
 Type=Application
-Exec=bash -c "export PS1=leus; source ~/.bashrc; rossetmaster hrp`expr $HRP2NO + 2000`v `expr $HRP2NO + 10000` ; rossetip ;roslaunch jsk_hrp2_ros_bridge hrp`expr $HRP2NO + 2000`_dashboard.launch"
+Exec=bash -c "export PS1=leus; source ~/.bashrc; rossetmaster hrp`expr $HRP2NO + 2000`v `expr $HRP2NO + 10000` ; rossetip ;roslaunch jsk_hrp2_ros_bridge hrp2_dashboard.launch"
 TryExec=
 Icon=ICON
 X-GNOME-DocPath=
diff --git a/jsk_hrp2_ros_bridge/launch/hrp2007_dashboard.launch b/jsk_hrp2_ros_bridge/launch/hrp2007_dashboard.launch
deleted file mode 100644
index 8cc27814..00000000
--- a/jsk_hrp2_ros_bridge/launch/hrp2007_dashboard.launch
+++ /dev/null
@@ -1,7 +0,0 @@
-<launch>
-
-  <rosparam file="$(find jsk_hrp2_ros_bridge)/config/hrp2007_hrpsys_dashboard.yaml" command="load" />
-
-  <node name="hrp2007_dashboard" pkg="jsk_hrp2_ros_bridge" type="jsk_hrp2_dashboard" />
-
-</launch>
diff --git a/jsk_hrp2_ros_bridge/launch/hrp2008_dashboard.launch b/jsk_hrp2_ros_bridge/launch/hrp2008_dashboard.launch
deleted file mode 100644
index fa5216b0..00000000
--- a/jsk_hrp2_ros_bridge/launch/hrp2008_dashboard.launch
+++ /dev/null
@@ -1,7 +0,0 @@
-<launch>
-
-  <rosparam file="$(find jsk_hrp2_ros_bridge)/config/hrp2008_hrpsys_dashboard.yaml" command="load" />
-
-  <node name="hrp2008_dashboard" pkg="jsk_hrp2_ros_bridge" type="jsk_hrp2_dashboard" />
-
-</launch>
diff --git a/jsk_hrp2_ros_bridge/launch/hrp2016_dashboard.launch b/jsk_hrp2_ros_bridge/launch/hrp2016_dashboard.launch
deleted file mode 100644
index 75a0a482..00000000
--- a/jsk_hrp2_ros_bridge/launch/hrp2016_dashboard.launch
+++ /dev/null
@@ -1,7 +0,0 @@
-<launch>
-
-  <rosparam file="$(find jsk_hrp2_ros_bridge)/config/hrp2016_hrpsys_dashboard.yaml" command="load" />
-
-  <node name="hrp2016_dashboard" pkg="jsk_hrp2_ros_bridge" type="jsk_hrp2_dashboard" />
-
-</launch>
\ No newline at end of file
diff --git a/jsk_hrp2_ros_bridge/launch/hrp2017_dashboard.launch b/jsk_hrp2_ros_bridge/launch/hrp2017_dashboard.launch
deleted file mode 100644
index 9c8c2ebc..00000000
--- a/jsk_hrp2_ros_bridge/launch/hrp2017_dashboard.launch
+++ /dev/null
@@ -1,7 +0,0 @@
-<launch>
-
-  <rosparam file="$(find jsk_hrp2_ros_bridge)/config/hrp2017_hrpsys_dashboard.yaml" command="load" />
-
-  <node name="hrp2017_dashboard" pkg="jsk_hrp2_ros_bridge" type="jsk_hrp2_dashboard" />
-
-</launch>
diff --git a/jsk_hrp2_ros_bridge/launch/hrp2_dashboard.launch b/jsk_hrp2_ros_bridge/launch/hrp2_dashboard.launch
new file mode 100644
index 00000000..52e8f7b7
--- /dev/null
+++ b/jsk_hrp2_ros_bridge/launch/hrp2_dashboard.launch
@@ -0,0 +1,7 @@
+<launch>
+
+  <rosparam file="$(find jsk_hrp2_ros_bridge)/config/hrpsys_dashboard.yaml" command="load" />
+
+  <node name="$(anon hrp2_dashboard)" pkg="jsk_hrp2_ros_bridge" type="jsk_hrp2_dashboard" />
+
+</launch>