diff --git a/jsk_fetch_robot/README.md b/jsk_fetch_robot/README.md
index 51c6144640..502caa6070 100644
--- a/jsk_fetch_robot/README.md
+++ b/jsk_fetch_robot/README.md
@@ -38,7 +38,10 @@
 First, you need to install ROS. For ROS melodic, please refer to install guide like [here](http://wiki.ros.org/melodic/Installation/Ubuntu).
 Please make sure your ROS Distribution is indigo, kinetic or melodic.
 
+#### The client user for indigo, kinetic melodic
+
 ```bash
+source /opt/ros/*/setup.bash
 mkdir -p catkin_ws/src
 cd  catkin_ws/src
 wstool init .
@@ -53,7 +56,6 @@ wstool update -t .
 wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_roseus/master/setup_upstream.sh -O /tmp/setup_upstream.sh
 bash /tmp/setup_upstream.sh -w ../ -p jsk-ros-pkg/geneus -p euslisp/jskeus
 
-source /opt/ros/$ROS_DISTRO/setup.bash
 rosdep install -y -r --from-paths . --ignore-src
 cd ../
 # (optional): if you want to use roseus_resume, build roseus_resume, too.
@@ -62,6 +64,22 @@ catkin build fetcheus jsk_fetch_startup
 source devel/setup.bash
 ```
 
+#### The client user for noetic
+
+```bash
+source /opt/ros/noetic/setup.bash
+mkdir -p catkin_ws/src/jsk-ros-pkg
+cd catkin_ws/src/jsk-ros-pkg
+git clone git@github.com:jsk-ros-pkg/jsk_robot -b develop/fetch
+cd ../
+vcs import < jsk-ros-pkg/jsk_robot/jsk_fetch_robot/jsk_fetch_user.noetic.repos
+cd ../
+rosdep update
+rosdep install -y -r --from-paths src --ignore-src
+catkin build fetcheus jsk_fetch_startup
+source devel/setup.bash
+```
+
 #### Setup Environment (For Robot Internal PC, only for advanced developer)
 
 ```bash
@@ -124,6 +142,14 @@ roslaunch fetch_gazebo simulation.launch
 roslaunch fetch_moveit_config move_group.launch
 ```
 
+Or you can launch
+
+```bash
+roslaunch jsk_fetch_startup fetch_gazebo_bringup.launch launch_move_base:=false
+```
+
+If you want to use JSK's 73B2 gazebo environment, you can launch
+
 Roseus script can be executed on Gazebo. The whole demo is in `jsk_fetch_gazebo_demo/launch/demo.launch`
 ```bash
 roslaunch jsk_fetch_gazebo_demo demo.launch
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
index 539974b2b4..96a60ae580 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_bringup.launch
@@ -43,6 +43,7 @@
   <arg name="launch_network_status" default="true" />
   <arg name="launch_audible_warning" default="true" />
   <arg name="launch_check_driver_boards" default="true" />
+  <arg name="launch_cpu_monitor" default="true" />
 
   <!--iot devices -->
   <arg name="launch_rosserial" default="true" />
@@ -152,7 +153,7 @@
 
   <!-- publish CPU status to diagnostics -->
   <node name="cpu_monitor" pkg="pr2_computer_monitor" type="cpu_monitor.py"
-        args="--diag-hostname=my_machine" >
+        args="--diag-hostname=my_machine" if="$(arg launch_cpu_monitor)">
     <param name="check_ipmi_tool" value="false" type="bool" />
     <param name="enforce_clock_speed" value="false" type="bool" />
     <param name="num_cores" value="-1" type="int" />
@@ -342,12 +343,12 @@
     <rosparam command="load"
               file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_amcl_common_params.yaml" />
     <rosparam command="load"
-              file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_amcl_$(env ROS_DISTRO)_params.yaml" />
+              file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_amcl_melodic_params.yaml" />
     <!-- load move_base params -->
     <rosparam command="load"
               file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_move_base_common_params.yaml" />
     <rosparam command="load"
-              file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_move_base_$(env ROS_DISTRO)_params.yaml" />
+              file="$(find jsk_fetch_startup)/launch/navigation/$(arg hostname)/fetch_move_base_melodic_params.yaml" />
   </group>
 
   <!-- slam for build a map -->
diff --git a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_gazebo_bringup.launch b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_gazebo_bringup.launch
index 0d48cab9e7..d3a4da481c 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_gazebo_bringup.launch
+++ b/jsk_fetch_robot/jsk_fetch_startup/launch/fetch_gazebo_bringup.launch
@@ -80,5 +80,7 @@
     <arg name="launch_rosserial" default="false" />
     <arg name="launch_switchbot" default="false" />
     <arg name="launch_fetch_lifelog" default="false" />
+    <arg name="launch_google_analyze_text" default="false" />
+    <arg name="launch_cpu_monitor" default="false" />
   </include>
 </launch>
diff --git a/jsk_fetch_robot/jsk_fetch_user.noetic.repos b/jsk_fetch_robot/jsk_fetch_user.noetic.repos
new file mode 100644
index 0000000000..15f4b2594f
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_user.noetic.repos
@@ -0,0 +1,19 @@
+repositories:
+  jsk-ros-pkg/jsk_demos:
+    type: git
+    url: git@github.com:jsk-ros-pkg/jsk_demos
+    version: master
+  # In order to avoid issue https://github.com/jsk-ros-pkg/jsk_robot/issues/1665,
+  # we need to use development branch until PR below are merged
+  # https://github.com/ZebraDevs/fetch_ros/pull/162
+  # https://github.com/ZebraDevs/fetch_ros/pull/163
+  # https://github.com/ZebraDevs/fetch_ros/pull/164
+  ZebraDevs/fetch_ros:
+    type: git
+    url: git@github.com:mqcmd196/fetch_ros
+    version: noetic-develop/fetch
+  # fetch_gazebo for noetic is not released
+  ZebraDevs/fetch_gazebo:
+    type: git
+    url: git@github.com:ZebraDevs/fetch_gazebo
+    version: gazebo11