diff --git a/crane_local_planner/include/crane_local_planner/simple_avoid_planner.hpp b/crane_local_planner/include/crane_local_planner/simple_avoid_planner.hpp
index 697293267..2a0699fcf 100644
--- a/crane_local_planner/include/crane_local_planner/simple_avoid_planner.hpp
+++ b/crane_local_planner/include/crane_local_planner/simple_avoid_planner.hpp
@@ -125,9 +125,8 @@ class SimpleAvoidPlanner
 
     {
       // 味方ロボットを回避
-      for (const auto & r : world_model->ours.getAvailableRobots()) {
-        if (
-          robot->id != r->id && bg::distance(r->geometry(), latest_path) <= r->geometry().radius) {
+      for (const auto & r : world_model->ours.getAvailableRobots(robot->id)) {
+        if (bg::distance(r->geometry(), latest_path) <= r->geometry().radius) {
           auto avoidance_points_tmp =
             getAvoidancePoints(robot->pose.pos, r->geometry(), r->geometry().radius);
           avoidance_points.insert(
@@ -245,10 +244,8 @@ class SimpleAvoidPlanner
     // ただし、ゴールからたどっていく。
     {
       // 味方ロボットを回避
-      for (const auto & r : world_model->ours.getAvailableRobots()) {
-        if (
-          from_robot->id != r->id &&
-          bg::distance(r->geometry(), latest_path) <= r->geometry().radius) {
+      for (const auto & r : world_model->ours.getAvailableRobots(from_robot->id)) {
+        if (bg::distance(r->geometry(), latest_path) <= r->geometry().radius) {
           auto avoidance_points_tmp =
             getAvoidancePoints(to, r->geometry(), r->geometry().radius + 0.2);
           avoidance_points.insert(
@@ -433,8 +430,8 @@ class SimpleAvoidPlanner
         [&](Point p) {
           Segment path{from, p};
           // 味方ロボットとの干渉をチェック
-          for (const auto & r : world_model->ours.getAvailableRobots()) {
-            if (r->id != robot->id && bg::distance(r->geometry(), path) <= 0.0) {
+          for (const auto & r : world_model->ours.getAvailableRobots(robot->id)) {
+            if (bg::distance(r->geometry(), path) <= 0.0) {
               return true;
             }
           }
diff --git a/crane_robot_skills/include/crane_robot_skills/goalie.hpp b/crane_robot_skills/include/crane_robot_skills/goalie.hpp
index 1982da8bb..3e0c4adf3 100644
--- a/crane_robot_skills/include/crane_robot_skills/goalie.hpp
+++ b/crane_robot_skills/include/crane_robot_skills/goalie.hpp
@@ -21,15 +21,11 @@ class Goalie : public SkillBase<>
   {
     auto ball = world_model->ball.pos;
     // パスできるロボットのリストアップ
-    auto passable_robot_list = world_model->ours.getAvailableRobots();
+    auto passable_robot_list = world_model->ours.getAvailableRobots(target.robot->id);
     passable_robot_list.erase(
       std::remove_if(
         passable_robot_list.begin(), passable_robot_list.end(),
         [&](const RobotInfo::SharedPtr & r) {
-          // 自分以外
-          if (target.robot->id == r->id) {
-            return true;
-          }
           // 敵に塞がれていたら除外
           Segment ball_to_robot_line(ball, r->pose.pos);
           for (const auto & enemy : world_model->theirs.getAvailableRobots()) {
diff --git a/crane_robot_skills/src/simple_attacker.cpp b/crane_robot_skills/src/simple_attacker.cpp
index 8b6a307c4..a830f2f69 100644
--- a/crane_robot_skills/src/simple_attacker.cpp
+++ b/crane_robot_skills/src/simple_attacker.cpp
@@ -21,12 +21,7 @@ SimpleAttacker::SimpleAttacker(uint8_t id, const std::shared_ptr<WorldModelWrapp
 
       // シュートの隙がないときは仲間へパス
       if (goal_angle_width < 0.07) {
-        auto our_robots = world_model->ours.getAvailableRobots();
-        our_robots.erase(
-          std::remove_if(
-            our_robots.begin(), our_robots.end(),
-            [&](const auto & our_robot) { return our_robot->id == robot->id; }),
-          our_robots.end());
+        auto our_robots = world_model->ours.getAvailableRobots(robot->id);
         auto nearest_robot =
           world_model->getNearestRobotsWithDistanceFromPoint(world_model->ball.pos, our_robots);
         best_target = nearest_robot.first->pose.pos;
diff --git a/crane_world_model_publisher/include/crane_world_model_publisher/world_model_publisher.hpp b/crane_world_model_publisher/include/crane_world_model_publisher/world_model_publisher.hpp
index de6e175a6..93da494db 100644
--- a/crane_world_model_publisher/include/crane_world_model_publisher/world_model_publisher.hpp
+++ b/crane_world_model_publisher/include/crane_world_model_publisher/world_model_publisher.hpp
@@ -89,6 +89,8 @@ class WorldModelPublisherComponent : public rclcpp::Node
 
   Color their_color;
 
+  uint8_t our_goalie_id, their_goalie_id;
+
   uint8_t max_id;
 
   static constexpr float DISAPPEARED_TIME_THRESH = 3.0f;
diff --git a/crane_world_model_publisher/src/world_model_publisher.cpp b/crane_world_model_publisher/src/world_model_publisher.cpp
index dffd19b9b..bd9ca4846 100644
--- a/crane_world_model_publisher/src/world_model_publisher.cpp
+++ b/crane_world_model_publisher/src/world_model_publisher.cpp
@@ -40,9 +40,13 @@ WorldModelPublisherComponent::WorldModelPublisherComponent(const rclcpp::NodeOpt
       if (msg.yellow.name == team_name) {
         our_color = Color::YELLOW;
         their_color = Color::BLUE;
+        our_goalie_id = msg.yellow.goalkeeper;
+        their_goalie_id = msg.blue.goalkeeper;
       } else if (msg.blue.name == team_name) {
         our_color = Color::BLUE;
         their_color = Color::YELLOW;
+        our_goalie_id = msg.blue.goalkeeper;
+        their_goalie_id = msg.yellow.goalkeeper;
       } else {
         std::stringstream what;
         what << "Cannot find our team name, " << team_name << " in referee message. ";
@@ -61,6 +65,7 @@ WorldModelPublisherComponent::WorldModelPublisherComponent(const rclcpp::NodeOpt
   if (initial_team_color == "BLUE") {
     our_color = Color::BLUE;
     their_color = Color::YELLOW;
+
   } else {
     our_color = Color::YELLOW;
     their_color = Color::BLUE;
@@ -189,6 +194,9 @@ void WorldModelPublisherComponent::publishWorldModel()
   wm.ball_placement_target.x = ball_placement_target_x;
   wm.ball_placement_target.y = ball_placement_target_y;
 
+  wm.our_goalie_id = our_goalie_id;
+  wm.their_goalie_id = their_goalie_id;
+
   pub_world_model->publish(wm);
 }
 
diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/attacker_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/attacker_planner.hpp
index a9bdf10e0..f1c76b7e7 100644
--- a/session/crane_planner_plugins/include/crane_planner_plugins/attacker_planner.hpp
+++ b/session/crane_planner_plugins/include/crane_planner_plugins/attacker_planner.hpp
@@ -43,12 +43,7 @@ class AttackerPlanner : public PlannerBase
 
       // シュートの隙がないときは仲間へパス
       if (goal_angle_width < 0.07) {
-        auto our_robots = world_model->ours.getAvailableRobots();
-        our_robots.erase(
-          std::remove_if(
-            our_robots.begin(), our_robots.end(),
-            [&](const auto & robot) { return robot->id == robot_id.robot_id; }),
-          our_robots.end());
+        auto our_robots = world_model->ours.getAvailableRobots(robot_id.robot_id);
         auto nearest_robot =
           world_model->getNearestRobotsWithDistanceFromPoint(world_model->ball.pos, our_robots);
         best_target = nearest_robot.first->pose.pos;
diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/goalie_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/goalie_planner.hpp
deleted file mode 100644
index a4c5f9f87..000000000
--- a/session/crane_planner_plugins/include/crane_planner_plugins/goalie_planner.hpp
+++ /dev/null
@@ -1,159 +0,0 @@
-// Copyright (c) 2021 ibis-ssl
-//
-// Use of this source code is governed by an MIT-style
-// license that can be found in the LICENSE file or at
-// https://opensource.org/licenses/MIT.
-
-#ifndef CRANE_PLANNER_PLUGINS__GOALIE_PLANNER_HPP_
-#define CRANE_PLANNER_PLUGINS__GOALIE_PLANNER_HPP_
-
-#include <crane_geometry/boost_geometry.hpp>
-#include <crane_msg_wrappers/robot_command_wrapper.hpp>
-#include <crane_msg_wrappers/world_model_wrapper.hpp>
-#include <crane_msgs/srv/robot_select.hpp>
-#include <crane_planner_base/planner_base.hpp>
-#include <functional>
-#include <memory>
-#include <rclcpp/rclcpp.hpp>
-
-#include "visibility_control.h"
-
-namespace crane
-{
-class GoaliePlanner : public PlannerBase
-{
-public:
-  COMPOSITION_PUBLIC
-  explicit GoaliePlanner(
-    WorldModelWrapper::SharedPtr & world_model, ConsaiVisualizerWrapper::SharedPtr visualizer)
-  : PlannerBase("goalie", world_model, visualizer)
-  {
-  }
-
-  void emitBallFromPenaltyArea(crane::RobotCommandWrapper & target)
-  {
-    auto ball = world_model->ball.pos;
-    // パスできるロボットのリストアップ
-    auto passable_robot_list = world_model->ours.getAvailableRobots();
-    passable_robot_list.erase(
-      std::remove_if(
-        passable_robot_list.begin(), passable_robot_list.end(),
-        [&](const RobotInfo::SharedPtr & r) {
-          // 自分以外
-          if (target.robot->id == r->id) {
-            return true;
-          }
-          // 敵に塞がれていたら除外
-          Segment ball_to_robot_line(ball, r->pose.pos);
-          for (const auto & enemy : world_model->theirs.getAvailableRobots()) {
-            auto dist = bg::distance(ball_to_robot_line, enemy->pose.pos);
-            if (dist < 0.2) {
-              return true;
-            }
-          }
-          return false;
-        }),
-      passable_robot_list.end());
-
-    Point pass_target = [&]() {
-      if (not passable_robot_list.empty()) {
-        // TODO: いい感じのロボットを選ぶようにする
-        return passable_robot_list.front()->pose.pos;
-      } else {
-        return Point{0, 0};
-      }
-    }();
-
-    Point intermediate_point = ball + (ball - pass_target).normalized() * 0.2f;
-    double angle_ball_to_target = getAngle(pass_target - ball);
-    double dot = (world_model->ball.pos - target.robot->pose.pos)
-                   .normalized()
-                   .dot((pass_target - world_model->ball.pos).normalized());
-    // ボールと目標の延長線上にいない && 角度があってないときは，中間ポイントを経由
-    if (
-      dot < 0.95 || std::abs(getAngleDiff(angle_ball_to_target, target.robot->pose.theta)) > 0.05) {
-      target.setTargetPosition(intermediate_point);
-      target.enableCollisionAvoidance();
-    } else {
-      target.setTargetPosition(world_model->ball.pos);
-      target.kickStraight(0.4).disableCollisionAvoidance();
-      target.enableCollisionAvoidance();
-      target.disableBallAvoidance();
-    }
-    target.setTargetTheta(getAngle(pass_target - ball));
-    target.disableGoalAreaAvoidance();
-  }
-
-  void inplay(crane::RobotCommandWrapper & target, bool enable_emit = true)
-  {
-    auto goals = world_model->getOurGoalPosts();
-    auto ball = world_model->ball.pos;
-    // シュートチェック
-    Segment goal_line(goals.first, goals.second);
-    Segment ball_line(ball, ball + world_model->ball.vel.normalized() * 20.f);
-    std::vector<Point> intersections;
-    bg::intersection(ball_line, Segment{goals.first, goals.second}, intersections);
-    if (not intersections.empty() && world_model->ball.vel.norm() > 0.5f) {
-      // シュートブロック
-      ClosestPoint result;
-      bg::closest_point(ball_line, target.robot->pose.pos, result);
-      target.setTargetPosition(result.closest_point);
-      target.setTargetTheta(getAngle(-world_model->ball.vel));
-    } else {
-      if (world_model->ball.isStopped() && world_model->isFriendDefenseArea(ball) && enable_emit) {
-        // ボールが止まっていて，味方ペナルティエリア内にあるときは，ペナルティエリア外に出す
-        emitBallFromPenaltyArea(target);
-      } else {
-        const double BLOCK_DIST = 0.15;
-        // 範囲外のときは正面に構える
-        if (not world_model->isFieldInside(ball)) {
-          ball << 0, 0;
-        }
-        Point goal_center = world_model->getOurGoalCenter();
-        goal_center << goals.first.x(), 0.0f;
-        target.setTargetPosition(goal_center + (ball - goal_center).normalized() * BLOCK_DIST);
-        target.lookAtBall();
-      }
-    }
-  }
-
-  std::pair<Status, std::vector<crane_msgs::msg::RobotCommand>> calculateRobotCommand(
-    const std::vector<RobotIdentifier> & robots) override
-  {
-    std::vector<crane_msgs::msg::RobotCommand> robot_commands;
-    for (auto robot_id : robots) {
-      crane::RobotCommandWrapper target(robot_id.robot_id, world_model);
-
-      switch (world_model->play_situation.getSituationCommandID()) {
-        case crane_msgs::msg::PlaySituation::HALT:
-          target.stopHere();
-          break;
-        case crane_msgs::msg::PlaySituation::THEIR_PENALTY_PREPARATION:
-          [[fallthrough]];
-        case crane_msgs::msg::PlaySituation::THEIR_PENALTY_START:
-          inplay(target, false);
-          break;
-        default:
-          inplay(target, true);
-          break;
-      }
-
-      robot_commands.emplace_back(target.getMsg());
-    }
-    return {PlannerBase::Status::RUNNING, robot_commands};
-  }
-
-  auto getSelectedRobots(
-    uint8_t selectable_robots_num, const std::vector<uint8_t> & selectable_robots)
-    -> std::vector<uint8_t> override
-  {
-    return this->getSelectedRobotsByScore(
-      selectable_robots_num, selectable_robots, [this](const std::shared_ptr<RobotInfo> & robot) {
-        // choose id smaller first
-        return 15. - static_cast<double>(-robot->id);
-      });
-  }
-};
-
-}  // namespace crane
-#endif  // CRANE_PLANNER_PLUGINS__GOALIE_PLANNER_HPP_
diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/marker_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/marker_planner.hpp
index 400d11ee9..711ac63e7 100644
--- a/session/crane_planner_plugins/include/crane_planner_plugins/marker_planner.hpp
+++ b/session/crane_planner_plugins/include/crane_planner_plugins/marker_planner.hpp
@@ -11,6 +11,7 @@
 #include <crane_msg_wrappers/world_model_wrapper.hpp>
 #include <crane_msgs/srv/robot_select.hpp>
 #include <crane_planner_base/planner_base.hpp>
+#include <crane_robot_skills/marker.hpp>
 #include <functional>
 #include <memory>
 #include <rclcpp/rclcpp.hpp>
@@ -33,21 +34,11 @@ class MarkerPlanner : public PlannerBase
     const std::vector<RobotIdentifier> & robots) override
   {
     std::vector<crane_msgs::msg::RobotCommand> robot_commands;
-    for (auto robot_id : robots) {
-      auto robot = world_model->getRobot(robot_id);
 
-      auto marked_robot = world_model->getTheirRobot(marking_target_map.at(robot_id.robot_id));
-      auto enemy_pos = marked_robot->pose.pos;
-      constexpr double INTERVAL = 0.5;
-
-      Point marking_point =
-        enemy_pos + (world_model->getOurGoalCenter() - enemy_pos).normalized() * INTERVAL;
-      double target_theta = getAngle(enemy_pos - world_model->getOurGoalCenter());
-
-      crane::RobotCommandWrapper target(robot_id.robot_id, world_model);
-      target.setTargetPosition(marking_point, target_theta);
-
-      robot_commands.emplace_back(target.getMsg());
+    for (auto & [id, value] : skill_map) {
+      auto & [command, skill] = value;
+      skill->run(*command, visualizer);
+      robot_commands.emplace_back(command->getMsg());
     }
     return {PlannerBase::Status::RUNNING, robot_commands};
   }
@@ -61,6 +52,7 @@ class MarkerPlanner : public PlannerBase
     }
 
     marking_target_map.clear();
+    skill_map.clear();
     std::vector<uint8_t> selected_robots;
     // 味方ゴールに近い敵ロボットをselectable_robots_num台選択
     std::vector<std::pair<std::shared_ptr<RobotInfo>, double>> robots_and_distances;
@@ -79,7 +71,7 @@ class MarkerPlanner : public PlannerBase
       uint8_t min_index = 0;
       for (int j = 0; j < selectable_robots.size(); j++) {
         double distance =
-          (enemy_robot->pose.pos - world_model->getOurRobot(selectable_robots[j])->pose.pos).norm();
+          world_model->getOurRobot(selectable_robots[j])->getDistance(enemy_robot->pose.pos);
         if (
           distance < min_distance &&
           std::count(selected_robots.begin(), selected_robots.end(), j) == 0) {
@@ -89,6 +81,14 @@ class MarkerPlanner : public PlannerBase
       }
       marking_target_map[selectable_robots[min_index]] = enemy_robot->id;
       selected_robots.push_back(selectable_robots[min_index]);
+      skill_map.emplace(
+        selectable_robots[min_index],
+        std::make_pair(
+          std::make_shared<RobotCommandWrapper>(selectable_robots[min_index], world_model),
+          std::make_shared<skills::Marker>(selectable_robots[min_index], world_model)));
+      skill_map[selectable_robots[min_index]].second->setParameter(
+        "marking_robot_id", enemy_robot->id);
+      skill_map[selectable_robots[min_index]].second->setParameter("mark_distance", 0.5);
     }
 
     return selected_robots;
@@ -97,6 +97,10 @@ class MarkerPlanner : public PlannerBase
 private:
   // key: ID of our robot in charge, value: ID of the enemy marked robot
   std::unordered_map<uint8_t, uint8_t> marking_target_map;
+
+  std::unordered_map<
+    uint8_t, std::pair<std::shared_ptr<RobotCommandWrapper>, std::shared_ptr<skills::Marker>>>
+    skill_map;
 };
 
 }  // namespace crane
diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/our_kickoff_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/our_kickoff_planner.hpp
index 41c52a5bc..396979d98 100644
--- a/session/crane_planner_plugins/include/crane_planner_plugins/our_kickoff_planner.hpp
+++ b/session/crane_planner_plugins/include/crane_planner_plugins/our_kickoff_planner.hpp
@@ -25,12 +25,12 @@ class OurKickOffPlanner : public PlannerBase
 {
 private:
   std::shared_ptr<skills::KickoffAttack> kickoff_attack;
+
   std::shared_ptr<RobotCommandWrapper> attacker_command;
 
   std::shared_ptr<skills::KickoffSupport> kickoff_support;
-  std::shared_ptr<RobotCommandWrapper> supporter_command;
 
-  //  std::shared_ptr<ConsaiVisualizerWrapper> visualizer;
+  std::shared_ptr<RobotCommandWrapper> supporter_command;
 
 public:
   COMPOSITION_PUBLIC explicit OurKickOffPlanner(
diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/planners.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/planners.hpp
index 3d910d12b..df146e3b4 100644
--- a/session/crane_planner_plugins/include/crane_planner_plugins/planners.hpp
+++ b/session/crane_planner_plugins/include/crane_planner_plugins/planners.hpp
@@ -10,15 +10,14 @@
 #include <crane_planner_base/planner_base.hpp>
 
 #include "attacker_planner.hpp"
-#include "ball_placement_planner.hpp"
-#include "ball_placement_with_skill_planner.hpp"
 #include "defender_planner.hpp"
 #include "formation_planner.hpp"
-#include "goalie_planner.hpp"
 #include "marker_planner.hpp"
 #include "our_kickoff_planner.hpp"
 #include "receive_planner.hpp"
 #include "skill_planner.hpp"
+#include "temporary/ball_placement_planner.hpp"
+#include "temporary/ball_placement_with_skill_planner.hpp"
 #include "tigers_goalie_planner.hpp"
 #include "waiter_planner.hpp"
 
@@ -33,12 +32,12 @@ auto generatePlanner(const std::string & planner_name, Ts... ts) -> PlannerBase:
     return std::make_unique<BallPlacementPlanner>(ts...);
   } else if (planner_name == "ball_placement_with_skill") {
     return std::make_unique<BallPlacementWithSkillPlanner>(ts...);
+  } else if (planner_name == "ball_placement_skill") {
+    return std::make_unique<BallPlacementSkillPlanner>(ts...);
   } else if (planner_name == "defender") {
     return std::make_unique<DefenderPlanner>(ts...);
   } else if (planner_name == "formation") {
     return std::make_unique<FormationPlanner>(ts...);
-  } else if (planner_name == "goalie") {
-    return std::make_unique<GoaliePlanner>(ts...);
   } else if (planner_name == "goalie_skill") {
     return std::make_unique<GoalieSkillPlanner>(ts...);
   } else if (planner_name == "marker") {
diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/skill_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/skill_planner.hpp
index 3299e89a4..c4af29e69 100644
--- a/session/crane_planner_plugins/include/crane_planner_plugins/skill_planner.hpp
+++ b/session/crane_planner_plugins/include/crane_planner_plugins/skill_planner.hpp
@@ -57,6 +57,91 @@ namespace crane
     }                                                                                             \
   }
 
-DEFINE_SKILL_PLANNER(Goalie);
+// DEFINE_SKILL_PLANNER(Goalie);
+
+class GoalieSkillPlanner : public PlannerBase
+{
+public:
+  std ::shared_ptr<skills::Goalie> skill = nullptr;
+
+  std ::shared_ptr<RobotCommandWrapper> robot_command_wrapper = nullptr;
+
+  COMPOSITION_PUBLIC explicit GoalieSkillPlanner(
+    WorldModelWrapper ::SharedPtr & world_model, ConsaiVisualizerWrapper ::SharedPtr visualizer)
+  : PlannerBase("Goalie", world_model, visualizer)
+  {
+  }
+
+  std ::pair<Status, std ::vector<crane_msgs ::msg ::RobotCommand>> calculateRobotCommand(
+    const std ::vector<RobotIdentifier> & robots) override
+  {
+    if (not skill or not robot_command_wrapper) {
+      return {PlannerBase ::Status ::RUNNING, {}};
+    } else {
+      std ::vector<crane_msgs ::msg ::RobotCommand> robot_commands;
+      auto status = skill->run(*robot_command_wrapper, visualizer);
+      return {static_cast<PlannerBase ::Status>(status), {robot_command_wrapper->getMsg()}};
+    }
+  }
+  auto getSelectedRobots(
+    uint8_t selectable_robots_num, const std ::vector<uint8_t> & selectable_robots)
+    -> std ::vector<uint8_t> override
+  {
+    return {world_model->getOurGoalieId()};
+  }
+};
+
+class BallPlacementSkillPlanner : public PlannerBase
+{
+public:
+  std ::shared_ptr<skills::SingleBallPlacement> skill = nullptr;
+
+  std ::shared_ptr<RobotCommandWrapper> robot_command_wrapper = nullptr;
+
+  COMPOSITION_PUBLIC explicit BallPlacementSkillPlanner(
+    WorldModelWrapper ::SharedPtr & world_model, ConsaiVisualizerWrapper ::SharedPtr visualizer)
+  : PlannerBase("BallPlacement", world_model, visualizer)
+  {
+  }
+
+  std ::pair<Status, std ::vector<crane_msgs ::msg ::RobotCommand>> calculateRobotCommand(
+    const std ::vector<RobotIdentifier> & robots) override
+  {
+    if (not skill or not robot_command_wrapper) {
+      return {PlannerBase ::Status ::RUNNING, {}};
+    } else {
+      if (auto target = world_model->getBallPlacementTarget(); target.has_value()) {
+        skill->setParameter("placement_x", target->x());
+        skill->setParameter("placement_y", target->y());
+      }
+      std ::vector<crane_msgs ::msg ::RobotCommand> robot_commands;
+      auto status = skill->run(*robot_command_wrapper, visualizer);
+      return {static_cast<PlannerBase ::Status>(status), {robot_command_wrapper->getMsg()}};
+    }
+  }
+
+  auto getSelectedRobots(
+    uint8_t selectable_robots_num, const std ::vector<uint8_t> & selectable_robots)
+    -> std ::vector<uint8_t> override
+  {
+    // ボールに近いロボットを1台選択
+    auto selected_robots = this->getSelectedRobotsByScore(
+      1, selectable_robots, [this](const std::shared_ptr<RobotInfo> & robot) {
+        // ボールに近いほどスコアが高い
+        return 100.0 / std::max(world_model->getSquareDistanceFromRobotToBall(robot->id), 0.01);
+      });
+    skill = std ::make_shared<skills ::SingleBallPlacement>(selected_robots.front(), world_model);
+
+    if (auto target = world_model->getBallPlacementTarget(); target.has_value()) {
+      skill->setParameter("placement_x", target->x());
+      skill->setParameter("placement_y", target->y());
+    }
+
+    robot_command_wrapper =
+      std ::make_shared<RobotCommandWrapper>(selected_robots.front(), world_model);
+    return {selected_robots.front()};
+  }
+};
+
 }  // namespace crane
 #endif  // CRANE_PLANNER_PLUGINS__SKILL_PLANNER_HPP_
diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/ball_placement_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/temporary/ball_placement_planner.hpp
similarity index 99%
rename from session/crane_planner_plugins/include/crane_planner_plugins/ball_placement_planner.hpp
rename to session/crane_planner_plugins/include/crane_planner_plugins/temporary/ball_placement_planner.hpp
index 588c854ac..5d07212bc 100644
--- a/session/crane_planner_plugins/include/crane_planner_plugins/ball_placement_planner.hpp
+++ b/session/crane_planner_plugins/include/crane_planner_plugins/temporary/ball_placement_planner.hpp
@@ -17,7 +17,7 @@
 #include <memory>
 #include <rclcpp/rclcpp.hpp>
 
-#include "visibility_control.h"
+#include "../visibility_control.h"
 
 namespace crane
 {
diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/ball_placement_with_skill_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/temporary/ball_placement_with_skill_planner.hpp
similarity index 99%
rename from session/crane_planner_plugins/include/crane_planner_plugins/ball_placement_with_skill_planner.hpp
rename to session/crane_planner_plugins/include/crane_planner_plugins/temporary/ball_placement_with_skill_planner.hpp
index 267ed8e9a..e216f7b83 100644
--- a/session/crane_planner_plugins/include/crane_planner_plugins/ball_placement_with_skill_planner.hpp
+++ b/session/crane_planner_plugins/include/crane_planner_plugins/temporary/ball_placement_with_skill_planner.hpp
@@ -20,7 +20,7 @@
 #include <memory>
 #include <rclcpp/rclcpp.hpp>
 
-#include "visibility_control.h"
+#include "../visibility_control.h"
 
 namespace crane
 {
diff --git a/session/crane_session_controller/config/attack.yaml b/session/crane_session_controller/config/attack.yaml
index 484394c99..b4cbd654e 100644
--- a/session/crane_session_controller/config/attack.yaml
+++ b/session/crane_session_controller/config/attack.yaml
@@ -12,3 +12,5 @@ events:
     session: "formation"
   - event: "INPLAY"
     session: "SIMPLE_ATTACK"
+  - event: "OUR_BALL_PLACEMENT"
+    session: "OUR_BALL_PLACEMENT"
diff --git a/session/crane_session_controller/config/defense.yaml b/session/crane_session_controller/config/defense.yaml
index 1d902fec6..285a41147 100644
--- a/session/crane_session_controller/config/defense.yaml
+++ b/session/crane_session_controller/config/defense.yaml
@@ -15,4 +15,4 @@ events:
   - event: "INPLAY"
     session: "defense"
   - event: "OUR_BALL_PLACEMENT"
-    session: "ball_placement_with_skill"
+    session: "OUR_BALL_PLACEMENT"
diff --git a/session/crane_session_controller/config/event_config.yaml b/session/crane_session_controller/config/event_config.yaml
index 0d86aaa46..b4cbd654e 100644
--- a/session/crane_session_controller/config/event_config.yaml
+++ b/session/crane_session_controller/config/event_config.yaml
@@ -13,4 +13,4 @@ events:
   - event: "INPLAY"
     session: "SIMPLE_ATTACK"
   - event: "OUR_BALL_PLACEMENT"
-    session: "ball_placement_with_skill"
+    session: "OUR_BALL_PLACEMENT"
diff --git a/session/crane_session_controller/config/normal.yaml b/session/crane_session_controller/config/normal.yaml
index 1110ba54b..6cad54346 100644
--- a/session/crane_session_controller/config/normal.yaml
+++ b/session/crane_session_controller/config/normal.yaml
@@ -14,3 +14,5 @@ events:
     session: "OUR_KICKOFF_START"
   - event: "INPLAY"
     session: "SIMPLE_ATTACK"
+  - event: "OUR_BALL_PLACEMENT"
+    session: "OUR_BALL_PLACEMENT"
diff --git a/session/crane_session_controller/config/play_situation/OUR_BALL_PLACEMENT.yaml b/session/crane_session_controller/config/play_situation/OUR_BALL_PLACEMENT.yaml
new file mode 100644
index 000000000..f82a8ef17
--- /dev/null
+++ b/session/crane_session_controller/config/play_situation/OUR_BALL_PLACEMENT.yaml
@@ -0,0 +1,10 @@
+---
+name: OUR_BALL_PLACEMENT
+description: OUR_BALL_PLACEMENT
+sessions:
+  - name: "goalie_skill"
+    capacity: 1
+  - name: "ball_placement_skill"
+    capacity: 1
+  - name: "waiter"
+    capacity: 20
diff --git a/session/crane_session_controller/config/play_situation/OUR_KICKOFF_PREPARATION.yaml b/session/crane_session_controller/config/play_situation/OUR_KICKOFF_PREPARATION.yaml
index a9e57110b..b34ec89e4 100644
--- a/session/crane_session_controller/config/play_situation/OUR_KICKOFF_PREPARATION.yaml
+++ b/session/crane_session_controller/config/play_situation/OUR_KICKOFF_PREPARATION.yaml
@@ -2,7 +2,7 @@
 name: OUR_KICKOFF_PREPARATION
 description: OUR_KICKOFF_PREPARATION
 sessions:
-  - name: "goalie"
+  - name: "goalie_skill"
     capacity: 1
   - name: "formation"
     capacity: 20
diff --git a/session/crane_session_controller/config/play_situation/OUR_KICKOFF_START.yaml b/session/crane_session_controller/config/play_situation/OUR_KICKOFF_START.yaml
index ca2e4c93c..5db4d4c12 100644
--- a/session/crane_session_controller/config/play_situation/OUR_KICKOFF_START.yaml
+++ b/session/crane_session_controller/config/play_situation/OUR_KICKOFF_START.yaml
@@ -2,7 +2,7 @@
 name: OUR_KICKOFF_START
 description: OUR_KICKOFF_START
 sessions:
-  - name: "goalie"
+  - name: "goalie_skill"
     capacity: 1
   - name: "our_kickoff"
     capacity: 2
diff --git a/session/crane_session_controller/config/play_situation/SIMPLE_ATTACK.yaml b/session/crane_session_controller/config/play_situation/SIMPLE_ATTACK.yaml
index 826770650..35e62e00a 100644
--- a/session/crane_session_controller/config/play_situation/SIMPLE_ATTACK.yaml
+++ b/session/crane_session_controller/config/play_situation/SIMPLE_ATTACK.yaml
@@ -2,7 +2,7 @@
 name: SIMPLE_ATTACK
 description: SIMPLE ATTACK
 sessions:
-  - name: "goalie"
+  - name: "goalie_skill"
     capacity: 1
   - name: "attacker"
     capacity: 1
diff --git a/session/crane_session_controller/config/play_situation/ball_placement_with_skill.yaml b/session/crane_session_controller/config/play_situation/ball_placement_with_skill.yaml
index 18d11b789..f9b173d22 100644
--- a/session/crane_session_controller/config/play_situation/ball_placement_with_skill.yaml
+++ b/session/crane_session_controller/config/play_situation/ball_placement_with_skill.yaml
@@ -2,7 +2,7 @@
 name: ball_placement_with_skill
 description: ball_placement_with_skill
 sessions:
-  - name: "goalie"
+  - name: "goalie_skill"
     capacity: 1
   - name: "ball_placement_with_skill"
     capacity: 1
diff --git a/session/crane_session_controller/config/play_situation/defense.yaml b/session/crane_session_controller/config/play_situation/defense.yaml
index 359c998b1..7bf99f3d9 100644
--- a/session/crane_session_controller/config/play_situation/defense.yaml
+++ b/session/crane_session_controller/config/play_situation/defense.yaml
@@ -2,7 +2,7 @@
 name: defense
 description: simple defense
 sessions:
-  - name: "goalie"
+  - name: "goalie_skill"
     capacity: 1
   - name: "defender"
     capacity: 10
diff --git a/session/crane_session_controller/config/play_situation/formation.yaml b/session/crane_session_controller/config/play_situation/formation.yaml
index 4a1e912ec..634fd458e 100644
--- a/session/crane_session_controller/config/play_situation/formation.yaml
+++ b/session/crane_session_controller/config/play_situation/formation.yaml
@@ -2,7 +2,7 @@
 name: formation
 description: formation
 sessions:
-  - name: "goalie"
+  - name: "goalie_skill"
     capacity: 1
   - name: "formation"
     capacity: 20
diff --git a/session/crane_session_controller/config/play_situation/goalie.yaml b/session/crane_session_controller/config/play_situation/goalie.yaml
index ff88e51b1..a7afcd7fe 100644
--- a/session/crane_session_controller/config/play_situation/goalie.yaml
+++ b/session/crane_session_controller/config/play_situation/goalie.yaml
@@ -2,7 +2,7 @@
 name: goalie
 description: for goalie
 sessions:
-  - name: "goalie"
+  - name: "goalie_skill"
     capacity: 1
   - name: "waiter"
     capacity: 10
diff --git a/session/crane_session_controller/config/play_situation/mark.yaml b/session/crane_session_controller/config/play_situation/mark.yaml
index b977205bf..e2d254a5f 100644
--- a/session/crane_session_controller/config/play_situation/mark.yaml
+++ b/session/crane_session_controller/config/play_situation/mark.yaml
@@ -2,7 +2,7 @@
 name: mark
 description: mark
 sessions:
-  - name: "goalie"
+  - name: "goalie_skill"
     capacity: 1
   - name: "defender"
     capacity: 3
diff --git a/utility/crane_msg_wrappers/include/crane_msg_wrappers/world_model_wrapper.hpp b/utility/crane_msg_wrappers/include/crane_msg_wrappers/world_model_wrapper.hpp
index 9b1bcf384..1899e84ce 100644
--- a/utility/crane_msg_wrappers/include/crane_msg_wrappers/world_model_wrapper.hpp
+++ b/utility/crane_msg_wrappers/include/crane_msg_wrappers/world_model_wrapper.hpp
@@ -94,22 +94,22 @@ struct TeamInfo
 
   std::vector<std::shared_ptr<RobotInfo>> robots;
 
-  std::vector<std::shared_ptr<RobotInfo>> getAvailableRobots()
+  std::vector<std::shared_ptr<RobotInfo>> getAvailableRobots(uint8_t my_id = 255)
   {
     std::vector<std::shared_ptr<RobotInfo>> available_robots;
     for (auto robot : robots) {
-      if (robot->available) {
+      if (robot->available && robot->id != my_id) {
         available_robots.emplace_back(robot);
       }
     }
     return available_robots;
   }
 
-  std::vector<uint8_t> getAvailableRobotIds()
+  std::vector<uint8_t> getAvailableRobotIds(uint8_t my_id = 255)
   {
     std::vector<uint8_t> available_robot_ids;
     for (auto robot : robots) {
-      if (robot->available) {
+      if (robot->available && robot->id != my_id) {
         available_robot_ids.emplace_back(robot->id);
       }
     }
@@ -469,6 +469,10 @@ struct WorldModelWrapper
     }
   }
 
+  [[nodiscard]] uint8_t getOurGoalieId() const { return latest_msg.our_goalie_id; }
+
+  [[nodiscard]] uint8_t getTheirGoalieId() const { return latest_msg.their_goalie_id; }
+
   TeamInfo ours;
 
   TeamInfo theirs;