diff --git a/3rdparty/julius/CMakeLists.txt b/3rdparty/julius/CMakeLists.txt
index b23a5bdb4..d7ffa892c 100644
--- a/3rdparty/julius/CMakeLists.txt
+++ b/3rdparty/julius/CMakeLists.txt
@@ -24,6 +24,8 @@ add_custom_command(
   COMMAND make -f ${PROJECT_SOURCE_DIR}/Makefile.dictation-kit MD5SUM_DIR=${MD5SUM_DIR} PATCH_DIR=${PATCH_DIR} INSTALL_DIR=${INSTALL_DIR}
 )
 
+# on ROS-O do not download grammer_kit, dictation_kit, instead install download script
+if(NOT $ENV{ROS_DISTRO} STREQUAL "debian")
 add_custom_target(all_installed ALL DEPENDS julius_installed grammar_kit_installed dictation_kit_installed)
 
 install(DIRECTORY
@@ -36,3 +38,16 @@ install(DIRECTORY
   ${INSTALL_DIR}/model
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
+else()
+install(PROGRAMS
+  download_julius_data.sh
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(FILES
+  Makefile.grammar-kit
+  Makefile.dictation-kit
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(FILES
+  md5sum/dictation-kit-v4.4.zip.md5sum
+  md5sum/grammar-kit-v4.3.1.tar.gz.md5sum
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/md5sum)
+endif()
diff --git a/3rdparty/julius/download_julius_data.sh b/3rdparty/julius/download_julius_data.sh
new file mode 100755
index 000000000..bbfb507cd
--- /dev/null
+++ b/3rdparty/julius/download_julius_data.sh
@@ -0,0 +1,11 @@
+#!/bin/bash -xe
+
+SCRIPT_DIR=$(cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+MD5SUM_DIR=${SCRIPT_DIR}/md5sum
+INSTALL_DIR=$(rospack find julius)
+
+DIR=$(mktemp -d /tmp/julius-XXXX)
+cd $DIR
+make -f ${SCRIPT_DIR}/Makefile.dictation-kit MD5SUM_DIR=${MD5SUM_DIR} INSTALL_DIR=${INSTALL_DIR}
+make -f ${SCRIPT_DIR}/Makefile.grammar-kit MD5SUM_DIR=${MD5SUM_DIR} INSTALL_DIR=${INSTALL_DIR}
+rm -fr $DIR
diff --git a/julius_ros/scripts/run_julius.sh b/julius_ros/scripts/run_julius.sh
index 665378c8f..33badb396 100755
--- a/julius_ros/scripts/run_julius.sh
+++ b/julius_ros/scripts/run_julius.sh
@@ -13,4 +13,12 @@ for OPT in "$@"; do
   esac
 done
 
-exec rosrun julius julius $ARGS
+if [ "$ROS_DISTRO" = "debian" ]; then
+    if ! test -e $(rospack find julius)/conf -a -e $(rospack find julius)/model; then
+	echo "julius need install grammer and dictation kit, run 'rosrun julius download_julius_data.sh'"
+	exit 1
+    fi
+    exec julius $ARGS
+else
+    exec rosrun julius julius $ARGS
+fi