diff --git a/jsk_rviz_plugins/src/overlay_menu_display.cpp b/jsk_rviz_plugins/src/overlay_menu_display.cpp
index 2929094e1..be3c15c7f 100644
--- a/jsk_rviz_plugins/src/overlay_menu_display.cpp
+++ b/jsk_rviz_plugins/src/overlay_menu_display.cpp
@@ -60,17 +60,33 @@ namespace jsk_rviz_plugins
       ros::message_traits::datatype<jsk_rviz_plugins::OverlayMenu>(),
       "jsk_rviz_plugins::OverlayMenu topic to subscribe to.",
       this, SLOT( updateTopic() ));
- 
+    left_property_ = new rviz::IntProperty("left", 128,
+                                           "left of the image window",
+                                           this, SLOT(updateLeft()));
+    left_property_->setMin(0);
+    top_property_ = new rviz::IntProperty("top", 128,
+                                          "top of the image window",
+                                          this, SLOT(updateTop()));
+    top_property_->setMin(0);
+    keep_centered_property_ = new rviz::BoolProperty("keep centered", true,
+                                                     "enable automatic center adjustment",
+                                                     this, SLOT(updateKeepCentered()));
   }
 
   OverlayMenuDisplay::~OverlayMenuDisplay()
   {
     onDisable();
     delete update_topic_property_;
+    delete left_property_;
+    delete top_property_;
+    delete keep_centered_property_;
   }
 
   void OverlayMenuDisplay::onInitialize()
   {
+    updateKeepCentered();
+    updateLeft();
+    updateTop();
     require_update_texture_ = false;
     animation_state_ = CLOSED;
   }
@@ -330,13 +346,7 @@ namespace jsk_rviz_plugins
         }
       }
     }
-    overlay_->setDimensions(overlay_->getTextureWidth(), overlay_->getTextureHeight());
-    int window_width = context_->getViewManager()->getRenderPanel()->width();
-    int window_height = context_->getViewManager()->getRenderPanel()->height();
-    double window_left = (window_width - (int)overlay_->getTextureWidth()) / 2.0;
-    double window_top = (window_height - (int)overlay_->getTextureHeight()) / 2.0;
-    overlay_->setPosition(window_left, window_top);
-                          
+    setMenuLocation();
     current_menu_ = next_menu_;
   }
   
@@ -389,19 +399,78 @@ namespace jsk_rviz_plugins
       painter.end();
       current_menu_ = next_menu_;
     }
+    setMenuLocation();
+  }
+
+  void OverlayMenuDisplay::setMenuLocation()
+  {
     overlay_->setDimensions(overlay_->getTextureWidth(), overlay_->getTextureHeight());
     int window_width = context_->getViewManager()->getRenderPanel()->width();
     int window_height = context_->getViewManager()->getRenderPanel()->height();
-    double window_left = (window_width - (int)overlay_->getTextureWidth()) / 2.0;
-    double window_top = (window_height - (int)overlay_->getTextureHeight()) / 2.0;
-    overlay_->setPosition(window_left, window_top);
+    if (keep_centered_)
+    {
+      left_ = (window_width - (int)overlay_->getTextureWidth()) / 2.0;
+      top_ = (window_height - (int)overlay_->getTextureHeight()) / 2.0;
+    }
+    left_ = std::max(0, std::min(window_width - (int)overlay_->getTextureWidth(), left_));
+    top_  = std::max(0, std::min(window_height - (int)overlay_->getTextureHeight(), top_));
+    overlay_->setPosition(left_, top_);
   }
   
   void OverlayMenuDisplay::updateTopic()
   {
+    boost::mutex::scoped_lock lock(mutex_);
     unsubscribe();
     subscribe();
   }
+
+  void OverlayMenuDisplay::updateLeft()
+  {
+    boost::mutex::scoped_lock lock(mutex_);
+    left_ = left_property_->getInt();
+  }
+
+  void OverlayMenuDisplay::updateTop()
+  {
+    boost::mutex::scoped_lock lock(mutex_);
+    top_ = top_property_->getInt();
+  }
+
+  void OverlayMenuDisplay::updateKeepCentered()
+  {
+    if (keep_centered_ &&
+        !keep_centered_property_->getBool()) {
+      updateLeft();
+      updateTop();
+    }
+    boost::mutex::scoped_lock lock(mutex_);
+    keep_centered_ = keep_centered_property_->getBool();
+  }
+
+  bool OverlayMenuDisplay::isInRegion(int x, int y)
+  {
+    return (overlay_ && overlay_->isTextureReady() &&
+            top_ < y && top_ + overlay_->getTextureHeight() > y &&
+            left_ < x && left_ + overlay_->getTextureWidth() > x);
+  }
+
+  void OverlayMenuDisplay::movePosition(int x, int y)
+  {
+    if (!keep_centered_)
+    {
+      top_ = y;
+      left_ = x;
+    }
+  }
+
+  void OverlayMenuDisplay::setPosition(int x, int y)
+  {
+    if (!keep_centered_)
+    {
+      top_property_->setValue(y);
+      left_property_->setValue(x);
+    }
+  }
 }
 
 #include <pluginlib/class_list_macros.h>
diff --git a/jsk_rviz_plugins/src/overlay_menu_display.h b/jsk_rviz_plugins/src/overlay_menu_display.h
index eb8b119ff..3ce772797 100644
--- a/jsk_rviz_plugins/src/overlay_menu_display.h
+++ b/jsk_rviz_plugins/src/overlay_menu_display.h
@@ -44,6 +44,8 @@
 #include <QPainter>
 
 #include <rviz/properties/ros_topic_property.h>
+#include <rviz/properties/int_property.h>
+#include <rviz/properties/bool_property.h>
 
 #include <jsk_rviz_plugins/OverlayMenu.h>
 
@@ -66,16 +68,30 @@ namespace jsk_rviz_plugins
       OPENING,
       CLOSING,
     };
-    
+
+    // methods for OverlayPickerTool
+    virtual bool isInRegion(int x, int y);
+    virtual void movePosition(int x, int y);
+    virtual void setPosition(int x, int y);
+    virtual int getX() { return left_; };
+    virtual int getY() { return top_; };
+
   protected:
+    boost::mutex mutex_;
     OverlayObject::Ptr overlay_;
     ros::Subscriber sub_;
     rviz::RosTopicProperty* update_topic_property_;
+    rviz::IntProperty* left_property_;
+    rviz::IntProperty* top_property_;
+    rviz::BoolProperty* keep_centered_property_;
     AnimationState animation_state_;
     bool require_update_texture_;
+    bool keep_centered_;
+    int left_, top_;
     jsk_rviz_plugins::OverlayMenu::ConstPtr current_menu_;
     jsk_rviz_plugins::OverlayMenu::ConstPtr next_menu_;
     double animation_t_;
+
     virtual void prepareOverlay();
     virtual void openingAnimation();
     virtual std::string getMenuString(
@@ -98,9 +114,12 @@ namespace jsk_rviz_plugins
     virtual void unsubscribe();
     virtual void processMessage
     (const jsk_rviz_plugins::OverlayMenu::ConstPtr& msg);
+    virtual void setMenuLocation();
   protected Q_SLOTS:
     void updateTopic();
-    
+    void updateLeft();
+    void updateTop();
+    void updateKeepCentered();
   };
 
 }
diff --git a/jsk_rviz_plugins/src/overlay_picker_tool.cpp b/jsk_rviz_plugins/src/overlay_picker_tool.cpp
index 8b653bda4..33eab4b8a 100644
--- a/jsk_rviz_plugins/src/overlay_picker_tool.cpp
+++ b/jsk_rviz_plugins/src/overlay_picker_tool.cpp
@@ -49,6 +49,7 @@
 #include "pie_chart_display.h"
 #include "overlay_image_display.h"
 #include "overlay_diagnostic_display.h"
+#include "overlay_menu_display.h"
 
 namespace jsk_rviz_plugins
 {
@@ -112,6 +113,9 @@ namespace jsk_rviz_plugins
       else if (startMovement<OverlayDiagnosticDisplay>(property, event, "overlay_diagnostic_display")) {
         return true;
       }
+      else if (startMovement<OverlayMenuDisplay>(property, event, "overlay_menu_display")) {
+        return true;
+      }
       else {
         return false;
       }
@@ -149,6 +153,9 @@ namespace jsk_rviz_plugins
       else if (target_property_type_ == "overlay_diagnostic_display") {
         movePosition<OverlayDiagnosticDisplay>(event);
       }
+      else if (target_property_type_ == "overlay_menu_display") {
+        movePosition<OverlayMenuDisplay>(event);
+      }
     }
   }
   
@@ -173,6 +180,9 @@ namespace jsk_rviz_plugins
       else if (target_property_type_ == "overlay_diagnostic_display") {
         setPosition<OverlayDiagnosticDisplay>(event);
       }
+      else if (target_property_type_ == "overlay_menu_display") {
+        setPosition<OverlayMenuDisplay>(event);
+      }
     }
     // clear cache
     target_property_ = NULL;