We discuss a tele-driving system for distant driving of a lunar rover, and describe our newly developed small, lightweight lunar rover called Micro-5 and its visual sensor system. The operator uses a virtual world simulator to make command path. The virtual environment of this simulator is constructed with measurement data from the rover on the moon. However, there is a communication delay between the earth and the moon. So, there is a difference between the old map data which the operator used for path planning and the new data which the rover is tracking. The operator's path command is thus less reliable to avoid obstacles and to reach the goal. Therefore, to achieve a highly reliable operator's command, we propose a command-data compensation approach which compensates this difference as the distortion of the environmental map.