diff --git a/README.md b/README.md
index 5d79dd38..76f461ce 100644
--- a/README.md
+++ b/README.md
@@ -7,16 +7,11 @@
 [![humble-devel Status](https://github.com/ROBOTIS-GIT/dynamixel-workbench/workflows/humble-devel/badge.svg)](https://github.com/ROBOTIS-GIT/dynamixel-workbench/tree/humble-devel)
 [![ROS2 Rolling Status](https://github.com/ROBOTIS-GIT/dynamixel-workbench/workflows/ros2-ci/badge.svg)](https://github.com/ROBOTIS-GIT/dynamixel-workbench/tree/ros2)
 
-# Dynamixel Workbench
+# DYNAMIXEL Workbench
 ![](https://github.com/ROBOTIS-GIT/emanual/blob/master/assets/images/sw/dynamixel/dynamixel_workbench/DYNAMIXEL_WORKBENCH_LOGO.png)
 
-## ROS Packages for Dynamixel Workbench
-|Version|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic|
-|:---:|:---:|:---:|
-|[![GitHub version](https://badge.fury.io/gh/ROBOTIS-GIT%2Fdynamixel-workbench.svg)](https://badge.fury.io/gh/ROBOTIS-GIT%2Fdynamixel-workbench)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/dynamixel-workbench.svg?branch=kinetic-devel)](https://travis-ci.org/ROBOTIS-GIT/dynamixel-workbench)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/dynamixel-workbench.svg?branch=melodic-devel)](https://travis-ci.org/ROBOTIS-GIT/dynamixel-workbench)|
-
-## ROBOTIS e-Manual for Dynamixel Workbench
-- [ROBOTIS e-Manual for Dynamixel Workbench](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/)
+## ROBOTIS e-Manual for DYNAMIXEL Workbench
+- [ROBOTIS e-Manual for DYNAMIXEL Workbench](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/)
 
 ## Wiki for dynamixel_workbench Packages
 - http://wiki.ros.org/dynamixel_workbench (metapackage)
@@ -26,7 +21,7 @@
 - http://wiki.ros.org/dynamixel_workbench_single_manager_gui
 - http://wiki.ros.org/dynamixel_workbench_toolbox
 
-## Open Source related to Dynamixel Workbench
+## Open Source related to DYNAMIXEL Workbench
 - [dynamixel_workbench](https://github.com/ROBOTIS-GIT/dynamixel-workbench)
 - [dynamixel_workbench_msgs](https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs)
 - [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK)
@@ -34,8 +29,8 @@
 - [OpenCR-Hardware](https://github.com/ROBOTIS-GIT/OpenCR-Hardware)
 - [OpenCR](https://github.com/ROBOTIS-GIT/OpenCR)
 
-## Documents and Videos related to Dynamixel Workbench
-- [ROBOTIS e-Manual for Dynamixel Workbench](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/)
-- [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)
+## Documents and Videos related to DYNAMIXEL Workbench
+- [ROBOTIS e-Manual for DYNAMIXEL Workbench](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/)
+- [ROBOTIS e-Manual for DYNAMIXEL SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)
 - [ROBOTIS e-Manual for OpenManipulator](http://emanual.robotis.com/docs/en/platform/openmanipulator/)
 - [ROBOTIS e-Manual for OpenCR](http://emanual.robotis.com/docs/en/parts/controller/opencr10/)
diff --git a/dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_driver.cpp b/dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_driver.cpp
index 3fdd1550..7a6fb324 100644
--- a/dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_driver.cpp
+++ b/dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_driver.cpp
@@ -16,6 +16,7 @@
 
 /* Authors: Taehun Lim (Darby) */
 
+#include <memory>
 #include "../../include/dynamixel_workbench_toolbox/dynamixel_driver.h"
 
 DynamixelDriver::DynamixelDriver() : tools_cnt_(0), 
@@ -773,13 +774,13 @@ bool DynamixelDriver::readRegister(uint8_t id, uint16_t address, uint16_t length
 {
   ErrorFromSDK sdk_error = {0, false, false, 0};
   
-  uint8_t data_read[length];
+  std::vector<uint8_t> data_read(length);
 
   sdk_error.dxl_comm_result = packetHandler_->readTxRx(portHandler_, 
                                                       id, 
                                                       address,
                                                       length, 
-                                                      (uint8_t *)&data_read, 
+                                                      data_read.data(), 
                                                       &sdk_error.dxl_error);
   if (sdk_error.dxl_comm_result != COMM_SUCCESS)
   {
@@ -1009,7 +1010,7 @@ bool DynamixelDriver::syncWrite(uint8_t index, uint8_t *id, uint8_t id_num, int3
   ErrorFromSDK sdk_error = {0, false, false, 0};
 
   uint8_t parameter[4] = {0, 0, 0, 0};
-  uint8_t multi_parameter[4*data_num_for_each_id];
+  std::vector<uint8_t> multi_parameter(4*data_num_for_each_id);
   uint8_t cnt = 0;
 
   for (int i = 0; i < id_num; i++)
@@ -1023,7 +1024,7 @@ bool DynamixelDriver::syncWrite(uint8_t index, uint8_t *id, uint8_t id_num, int3
       }
     }
 
-    sdk_error.dxl_addparam_result = syncWriteHandler_[index].groupSyncWrite->addParam(id[i], (uint8_t *)&multi_parameter);
+    sdk_error.dxl_addparam_result = syncWriteHandler_[index].groupSyncWrite->addParam(id[i], multi_parameter.data());
     if (sdk_error.dxl_addparam_result != true)
     {
       if (log != NULL) *log = "groupSyncWrite addparam failed";