diff --git a/eus_assimp/CMakeLists.txt b/eus_assimp/CMakeLists.txt
index 9119d24b..40207a69 100644
--- a/eus_assimp/CMakeLists.txt
+++ b/eus_assimp/CMakeLists.txt
@@ -4,7 +4,7 @@ project(eus_assimp)
 
 # Load catkin and all dependencies required for this package
 # TODO: remove all from COMPONENTS that are not catkin packages.
-find_package(catkin REQUIRED COMPONENTS euslisp)
+find_package(catkin REQUIRED COMPONENTS)
 
 set(ENV{PKG_CONFIG_PATH} "$ENV{PKG_CONFIG_PATH}:${CATKIN_DEVEL_PREFIX}/lib/pkgconfig")
 
@@ -12,14 +12,26 @@ find_package(PkgConfig)
 pkg_check_modules(assimpdevel assimp_devel REQUIRED)
 # CATKIN_MIGRATION: removed during catkin migration
 # rosbuild_add_boost_directories()
+find_package(euslisp QUIET)
+find_program(EUS_EXECUTABLE eus)
 if(NOT euslisp_INCLUDE_DIRS)
   if(EXISTS ${euslisp_SOURCE_DIR}/jskeus)
     set(euslisp_PACKAGE_PATH ${euslisp_SOURCE_DIR})
-  else()
+  elseif(EXISTS ${euslisp_PREFIX}/share/euslisp)
     set(euslisp_PACKAGE_PATH ${euslisp_PREFIX}/share/euslisp)
+  elseif((EXISTS "${EUS_EXECUTABLE}") AND (EXISTS "/usr/share/euslisp/include"))   # euslisp not found as ROS package, try to find  endif()
+    set(euslisp_PACKAGE_PATH /usr/share/euslisp)
+  else()
+    message(FATAL_ERROR "-- Could not find euslisp_PACKAGE_PATH")
   endif()
   message("-- Set euslisp_PACKAGE_PATH to ${euslisp_PACKAGE_PATH}")
-  set(euslisp_INCLUDE_DIRS ${euslisp_PACKAGE_PATH}/jskeus/eus/include)
+  if(EXISTS ${euslisp_PACKAGE_PATH}/jskeus/eus/include)
+    set(euslisp_INCLUDE_DIRS ${euslisp_PACKAGE_PATH}/jskeus/eus/include)
+  elseif(EXISTS ${euslisp_PACKAGE_PATH}/include)
+    set(euslisp_INCLUDE_DIRS ${euslisp_PACKAGE_PATH}/include)
+  else()
+    message(FATAL_ERROR "-- Could not find euslisp_INCLUDE_DIRS")
+  endif()
 endif()
 message("-- Set euslisp_INCLUDE_DIRS to ${euslisp_INCLUDE_DIRS}")
 include_directories(/usr/include /usr/X11R6/include ${euslisp_INCLUDE_DIRS} ${assimpdevel_INCLUDE_DIRS})
diff --git a/euscollada/package.xml b/euscollada/package.xml
index c2610503..e976d718 100644
--- a/euscollada/package.xml
+++ b/euscollada/package.xml
@@ -1,4 +1,4 @@
-<package>
+<package format="3">
   <name>euscollada</name>
   <version>0.4.5</version>
   <description>euscollada</description>
@@ -34,23 +34,23 @@
   <build_depend>collada_urdf</build_depend>
   <build_depend>rostest</build_depend>
 
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospack</run_depend>
-  <run_depend>yaml-cpp</run_depend>
-  <run_depend>assimp_devel</run_depend>
-  <run_depend>urdf</run_depend>
-  <run_depend>liburdfdom-dev</run_depend> <!-- for indigo -->
-  <run_depend>resource_retriever</run_depend>
-  <run_depend>collada-dom</run_depend>
-  <run_depend>collada_parser</run_depend>
-  <run_depend>libqhull</run_depend>
-  <run_depend>tf</run_depend>
-  <run_depend>collada_urdf</run_depend>
-  <run_depend>rostest</run_depend>
-
-  <test_depend>roseus</test_depend>
-  <test_depend>openhrp3</test_depend>
-  <test_depend>pr2_description</test_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospack</exec_depend>
+  <exec_depend>yaml-cpp</exec_depend>
+  <exec_depend>assimp_devel</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>liburdfdom-dev</exec_depend> <!-- for indigo -->
+  <exec_depend>resource_retriever</exec_depend>
+  <exec_depend>collada-dom</exec_depend>
+  <exec_depend>collada_parser</exec_depend>
+  <exec_depend>libqhull</exec_depend>
+  <exec_depend>tf</exec_depend>
+  <exec_depend>collada_urdf</exec_depend>
+  <exec_depend>rostest</exec_depend>
+
+  <test_depend condition="$ROS_DISTRO != debian">roseus</test_depend>
+  <test_depend condition="$ROS_DISTRO != debian">openhrp3</test_depend>
+  <test_depend condition="$ROS_DISTRO != debian">pr2_description</test_depend>
 
   <export>
     <rosdoc config="rosdoc.yaml"/>
diff --git a/eusurdf/cmake/eusurdf.cmake b/eusurdf/cmake/eusurdf.cmake
index d6f50fcd..6c042512 100644
--- a/eusurdf/cmake/eusurdf.cmake
+++ b/eusurdf/cmake/eusurdf.cmake
@@ -22,10 +22,13 @@ endmacro(get_collada_to_urdf_exe _collada_to_urdf_exe)
 
 macro(get_eusdir _eusdir_var)
   find_package(euslisp QUIET)
+  find_program(EUS_EXECUTABLE eus)
   if(euslisp_FOUND)
     set(${_eusdir_var} "${EUSDIR}")
   elseif(NOT "$ENV{EUSDIR}" STREQUAL "")
     set(${_eusdir_var} "$ENV{EUSDIR}")
+  elseif((EXISTS "${EUS_EXECUTABLE}") AND (EXISTS "/usr/share/euslisp"))   # euslisp not found as ROS package, try to find system installed eus
+    set(${_eusdir_var} "/usr/share/euslisp")
   else(euslisp_FOUND)
     message(FATAL_ERROR "EUSDIR could not detected.")
   endif(euslisp_FOUND)
@@ -33,7 +36,7 @@ macro(get_eusdir _eusdir_var)
 endmacro(get_eusdir _eusdir_var)
 
 macro(get_eusexe _eus_exe)
-  find_package(euslisp REQUIRED)
+  find_package(euslisp QUIET)
   if(${CMAKE_SYSTEM_NAME} MATCHES Linux)
     execute_process(COMMAND gcc -dumpmachine OUTPUT_VARIABLE GCC_MACHINE OUTPUT_STRIP_TRAILING_WHITESPACE)
     message("-- Set GCC_MACHINE to ${GCC_MACHINE}")
@@ -58,12 +61,15 @@ macro(get_eusexe _eus_exe)
     set(ARCHDIR Generic)
   endif()
 
+  find_program(JSKEUS_EXECUTABLE irteusgl)
   if (EXISTS ${euslisp_SOURCE_DIR}/jskeus/eus/${ARCHDIR}/bin/irteusgl)
     set(${_eus_exe} ${euslisp_SOURCE_DIR}/jskeus/eus/${ARCHDIR}/bin/irteusgl)
   elseif (EXISTS ${euslisp_SOURCE_PREFIX}/jskeus/eus/${ARCHDIR}/bin/irteusgl)
     set(${_eus_exe} ${euslisp_SOURCE_PREFIX}/jskeus/eus/${ARCHDIR}/bin/irteusgl)
   elseif (EXISTS ${euslisp_PREFIX}/share/euslisp/jskeus/eus/${ARCHDIR}/bin/irteusgl)
     set(${_eus_exe} ${euslisp_PREFIX}/share/euslisp/jskeus/eus/${ARCHDIR}/bin/irteusgl)
+  elseif (EXISTS "${JSKEUS_EXECUTABLE}")
+    set(${_eus_exe} ${JSKEUS_EXECUTABLE})
   else (EXISTS ${euslisp_SOURCE_DIR}/jskeus/eus/${ARCHDIR}/bin/irteusgl)
     message(FATAL_ERROR "cannot find irteusgl")
   endif(EXISTS ${euslisp_SOURCE_DIR}/jskeus/eus/${ARCHDIR}/bin/irteusgl)