diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 000000000..28105dd5a
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of
+# directories (or patterns, but directories should suffice) that should
+# be excluded from the distro.  This is not the place to put things that
+# should be ignored everywhere, like "build" directories; that happens in
+# rosbuild/rosbuild.cmake.  Here should be listed packages that aren't
+# ready for inclusion in a distro.
+#
+# This list is combined with the list in rosbuild/rosbuild.cmake.  Note
+# that CMake 2.6 may be required to ensure that the two lists are combined
+# properly.  CMake 2.4 seems to have unpredictable scoping rules for such
+# variables.
+#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
+
+rosbuild_make_distribution(0.1.0)
diff --git a/Makefile b/Makefile
new file mode 100644
index 000000000..a818ccadb
--- /dev/null
+++ b/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake_stack.mk
\ No newline at end of file
diff --git a/openhrp3/CMakeLists.txt b/openhrp3/CMakeLists.txt
new file mode 100644
index 000000000..d3cbef443
--- /dev/null
+++ b/openhrp3/CMakeLists.txt
@@ -0,0 +1,29 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+# Build OpenHRP3
+execute_process(COMMAND cmake -E chdir ${PROJECT_SOURCE_DIR} make -f Makefile.tvmet
+		RESULT_VARIABLE _make_failed)
+if (_make_failed)
+  message(FATAL_ERROR "Build of tvmet failed")
+endif(_make_failed)
+execute_process(COMMAND cmake -E chdir ${PROJECT_SOURCE_DIR} make -f Makefile.openhrp-aist-grx
+		RESULT_VARIABLE _make_failed)
+if (_make_failed)
+  message(FATAL_ERROR "Build of OpenHRP3 failed")
+endif(_make_failed)
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
diff --git a/openhrp3/Makefile b/openhrp3/Makefile
new file mode 100644
index 000000000..662907092
--- /dev/null
+++ b/openhrp3/Makefile
@@ -0,0 +1,11 @@
+include $(shell rospack find mk)/cmake.mk
+
+clean: extra-clean
+
+wipe: clean
+	rm -rf build
+	touch wiped
+
+extra-clean:
+	make -f Makefile.openhrp-aist-grx clean
+	make -f Makefile.tvmet clean
diff --git a/openhrp3/Makefile.openhrp-aist-grx b/openhrp3/Makefile.openhrp-aist-grx
new file mode 100644
index 000000000..1b38974eb
--- /dev/null
+++ b/openhrp3/Makefile.openhrp-aist-grx
@@ -0,0 +1,16 @@
+all: installed
+
+INSTALL_DIR=`rospack find openhrp3`
+HG_DIR = build/openhrp-aist-grx
+HG_URL = https://openhrp-aist-grx.googlecode.com/hg/
+include $(shell rospack find mk)/hg_checkout.mk
+
+installed: $(HG_DIR)
+	cd $(HG_DIR) && cmake -DCMAKE_INSTALL_PREFIX=$(INSTALL_DIR) -DTVMET_DIR=$(CURDIR)/tvmet -DOPENRTM_DIR=/usr -DCOLLADADOM_DIR=$(CURDIR)/collada-dom .
+	cd $(HG_DIR) && make
+	cd $(HG_DIR) && make install
+	touch installed
+
+clean:
+	-cd $(HG_DIR) && make clean
+	rm -fr include lib installed
diff --git a/openhrp3/Makefile.tvmet b/openhrp3/Makefile.tvmet
new file mode 100644
index 000000000..667549130
--- /dev/null
+++ b/openhrp3/Makefile.tvmet
@@ -0,0 +1,22 @@
+all: installed.tvmet
+
+FILENAME = tvmet-1.7.2.tar.bz2
+TARBALL = build/$(FILENAME)
+TARBALL_URL = http://downloads.sourceforge.net/tvmet/$(FILENAME)
+SOURCE_DIR = build/tvmet-1.7.2
+UNPACK_CMD = tar xjf
+MD5SUM_FILE = $(FILENAME).md5sum
+include $(shell rospack find mk)/download_unpack_build.mk
+
+
+installed.tvmet: $(SOURCE_DIR)/unpacked
+	cd $(SOURCE_DIR) && ./configure --prefix=$(CURDIR)/tvmet
+	cd $(SOURCE_DIR) && make $(ROS_PARALLEL_JOBS) && make install
+	touch installed.tvmet
+
+clean:
+	-cd $(SOURCE_DIR) && make clean
+	rm -fr tvmet
+
+
+
diff --git a/openhrp3/mainpage.dox b/openhrp3/mainpage.dox
new file mode 100644
index 000000000..3563b033d
--- /dev/null
+++ b/openhrp3/mainpage.dox
@@ -0,0 +1,26 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b openhrp3 is ... 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/
diff --git a/openhrp3/manifest.xml b/openhrp3/manifest.xml
new file mode 100644
index 000000000..6840067f6
--- /dev/null
+++ b/openhrp3/manifest.xml
@@ -0,0 +1,68 @@
+<package>
+  <description brief="openhrp3">
+
+     openhrp3
+
+  </description>
+  <author>Developed by AIST, GRX, ROS Package is maintained by Kei Okada</author>
+  <license>EPL</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/openhrp3</url>
+
+  <depend package="tvmet" />
+  <rosdep name="collada-dom" />
+
+  <!-- java -->
+  <rosdep name="sun-java6-jdk" />
+  <rosdep name="sun-java6-fonts" />
+  <rosdep name="sun-java6-plugin" />
+  <rosdep name="jython" />
+  <rosdep name="libreadline-java" />
+
+  <rosdep name="ttf-sazanami-gothic" />
+  <rosdep name="ttf-sazanami-mincho" />
+  <rosdep name="ttf-kochi-gothic" />
+  <rosdep name="ttf-kochi-mincho" />
+
+  <!-- omniORB -->
+  <rosdep name="libcos4-dev" />
+  <rosdep name="libomnievents-dev" />
+  <rosdep name="libomniorb4-dev" />
+  <rosdep name="libomnithread3-dev" />
+  <rosdep name="omnievents" />
+  <rosdep name="omniidl4" />
+  <rosdep name="omniidl-python" />
+  <rosdep name="omniorb4" />
+  <rosdep name="omniorb4-idl" />
+  <rosdep name="omniorb4-nameserver" />
+  <rosdep name="python-omniorb" />
+  <rosdep name="python-tk" />
+
+  <!-- math -->
+  <rosdep name="liblapack3gf" />
+  <rosdep name="liblapack-dev" />
+  <rosdep name="libatlas-base-dev" />
+  <rosdep name="libblas3gf" />
+  <rosdep name="libblas-dev" />
+  <rosdep name="f2c" />
+  <rosdep name="libf2c2" />
+  <rosdep name="libf2c2-dev" />
+  <rosdep name="libgfortran3" />
+  <rosdep name="libgfortran3-dbg" />
+
+  <!-- boost -->
+
+  <!-- eclipse3.4.2 -->
+  <rosdep name="xulrunner-1.9.2" />
+
+  <!-- etc -->
+  <rosdep name="zlib1g-dev" />
+  <rosdep name="libjpeg62-dev" />
+  <rosdep name="libpng12-dev" />
+  <rosdep name="uuid-dev" />
+
+  <!-- openrtm -->
+  <rosdep name="openrtm" />
+</package>
+
+
diff --git a/openhrp3/tvmet-1.7.2.tar.bz2.md5sum b/openhrp3/tvmet-1.7.2.tar.bz2.md5sum
new file mode 100644
index 000000000..9e8eb6d04
--- /dev/null
+++ b/openhrp3/tvmet-1.7.2.tar.bz2.md5sum
@@ -0,0 +1 @@
+8e1b2ec67ebec65f680a8bd3ea38a656  build/tvmet-1.7.2.tar.bz2
diff --git a/rosdep.yaml b/rosdep.yaml
new file mode 100644
index 000000000..5c0c22c60
--- /dev/null
+++ b/rosdep.yaml
@@ -0,0 +1,114 @@
+sun-java6-jdk:
+  ubuntu: sun-java6-jdk
+sun-java6-fonts:
+  ubuntu: sun-java6-fonts
+sun-java6-plugin:
+  ubuntu: sun-java6-plugin
+jython:
+  ubuntu: jython
+libreadline-java:
+  ubuntu: libreadline-java
+
+# japanese font
+ttf-sazanami-gothic:
+  ubuntu: ttf-sazanami-gothic
+ttf-sazanami-mincho:
+  ubuntu: ttf-sazanami-mincho
+ttf-kochi-gothic:
+  ubuntu: ttf-kochi-gothic
+ttf-kochi-mincho:
+  ubuntu: ttf-kochi-mincho
+
+# omniORB
+libcos4-dev:
+  ubuntu: libcos4-dev
+libomnievents-dev:
+  ubuntu: libomnievents-dev
+libomniorb4-dev:
+  ubuntu: libomniorb4-dev
+libomnithread3-dev:
+  ubuntu: libomnithread3-dev
+omnievents:
+  ubuntu: omnievents
+omniidl4:
+  ubuntu: omniidl4
+omniidl-python:
+  ubuntu:
+    10.04: omniidl4-python
+    10.10: omniidl-python
+omniorb4:
+  ubuntu: omniorb4
+omniorb4-idl:
+  ubuntu: omniorb4-idl
+omniorb4-nameserver:
+  ubuntu: omniorb4-nameserver
+python-omniorb:
+  ubuntu:
+   10.04: python-omniorb2
+   10.10: python-omniorb
+python-tk:
+  ubuntu: python-tk
+
+# math
+liblapack3gf:
+  ubuntu: liblapack3gf
+liblapack-dev:
+  ubuntu: liblapack-dev
+libatlas-base-dev:
+  ubuntu: libatlas-base-dev
+libblas3gf:
+  ubuntu: libblas3gf
+libblas-dev:
+  ubuntu: libblas-dev
+f2c:
+  ubuntu: f2c
+libf2c2:
+  ubuntu: libf2c2
+libf2c2-dev:
+  ubuntu: libf2c2-dev
+libgfortran3:
+  ubuntu: libgfortran3
+libgfortran3-dbg:
+  ubuntu: libgfortran3-dbg
+tvmet:
+  ubuntu: tvmet
+
+# boost
+
+# eclipse3.4.2
+xulrunner-1.9.2:
+  ubuntu: xulrunner-1.9.2
+
+# etc
+zlib1g-dev:
+  ubuntu: zlib1g-dev
+libjpeg62-dev:
+  ubuntu: libjpeg62-dev
+libpng12-dev:
+  ubuntu: libpng12-dev
+uuid-dev:
+  ubuntu: uuid-dev
+
+# openrtm
+#openrtm-aist
+#openrtm-aist-doc
+#openrtm-aist-dev
+#openrtm-aist-example
+openrtm:
+  ubuntu: |
+   if [ ! -f /etc/apt/sources.list.d/openrtm.list ] ; then
+     echo "deb http://www.openrtm.org/pub/Linux/ubuntu maverick main" |  sudo tee /etc/apt/sources.list.d/openrtm.list
+   fi
+   sudo apt-get install openrtm-aist openrtm-aist-doc openrtm-aist-dev openrtm-aist-example
+
+collda-dom:
+  ubuntu: |
+   if [ ! -f /etc/apt/sources.list.d/openrave-release*.list ] ; then
+     sudo add-apt-repository ppa:openrave/release
+     sudo apt-get update
+   fi
+   sudo apt-get install collada-dom
+
+# for hrpsys
+# libncurses5-dev
+# libreadline5-dev
diff --git a/stack.xml b/stack.xml
new file mode 100644
index 000000000..d1ca5f6d3
--- /dev/null
+++ b/stack.xml
@@ -0,0 +1,9 @@
+<stack>
+  <description brief="rtmros_common">Common Packages for RTM/ROS integration</description>
+  <author>Kei Okada, Rosen Diankov</author>
+  <license>BSD</license>  
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/rtmros_common</url>
+  <depend stack="ros" />
+
+</stack>