diff --git a/jsk_footstep_planner/euslisp/footstep_planner_util.l b/jsk_footstep_planner/euslisp/footstep_planner_util.l
index 6e2f2696c..5283b5707 100644
--- a/jsk_footstep_planner/euslisp/footstep_planner_util.l
+++ b/jsk_footstep_planner/euslisp/footstep_planner_util.l
@@ -1,7 +1,6 @@
 ;; utility function for footstep planning
 (ros::roseus-add-msgs "jsk_footstep_msgs")
 (ros::roseus-add-msgs "jsk_recognition_msgs")
-(ros::roseus-add-srvs "jsk_pcl_ros")
 
 (defun project-coords-on-to-plane (coords planes z-axis)
   "z-axis is dummy parameter.
@@ -82,7 +81,7 @@
 (defun face-on-faces (f support-faces)
   (if *use-env-server*
       (progn
-        (let ((req (instance jsk_pcl_ros::PolygonOnEnvironmentRequest :init)))
+        (let ((req (instance jsk_recognition_msgs::PolygonOnEnvironmentRequest :init)))
           ;;(send req :environment_id *env-id*)
           (send req :environment_id 0)
           ;; build polygon samped
diff --git a/jsk_footstep_planner/euslisp/robot-model-util.l b/jsk_footstep_planner/euslisp/robot-model-util.l
index 6425fa051..9f24003dc 100644
--- a/jsk_footstep_planner/euslisp/robot-model-util.l
+++ b/jsk_footstep_planner/euslisp/robot-model-util.l
@@ -1,7 +1,7 @@
 ;; Extend robot interface 
 
 (ros::roseus-add-msgs "jsk_footstep_msgs")
-(ros::roseus-add-srvs "jsk_pcl_ros")
+(ros::roseus-add-srvs "jsk_recognition_msgs")
 
 (ros::advertise "/robot_footstep" jsk_footstep_msgs::FootstepArray)
 
@@ -42,7 +42,7 @@
       msg))
   (:snap-footsteps (foot-coords &key
                                 (service "/locomotion/snapit/align_footstep"))
-    (let ((req (instance jsk_pcl_ros::SnapFootstepRequest :init)))
+    (let ((req (instance jsk_recognition_msgs::SnapFootstepRequest :init)))
       (send req :input (send self :footstep-to-rosmsg foot-coords))
       (let ((res (ros::service-call service req t)))
         (if res
diff --git a/jsk_footstep_planner/package.xml b/jsk_footstep_planner/package.xml
index 8a4bea5f3..32e19c904 100644
--- a/jsk_footstep_planner/package.xml
+++ b/jsk_footstep_planner/package.xml
@@ -19,6 +19,8 @@
   <build_depend>jsk_recognition_utils</build_depend>
   <run_depend>jsk_recognition_utils</run_depend>
 
+  <run_depend>jsk_recognition_msgs</run_depend>
+
   <run_depend>roseus</run_depend>
 
   <build_depend>jsk_rviz_plugins</build_depend>