diff --git a/jsk_mbzirc_common/CMakeLists.txt b/jsk_mbzirc_common/CMakeLists.txt
index 74b8d1c..a06e2b5 100644
--- a/jsk_mbzirc_common/CMakeLists.txt
+++ b/jsk_mbzirc_common/CMakeLists.txt
@@ -4,62 +4,71 @@ project(jsk_mbzirc_common)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS gazebo_ros std_msgs geometry_msgs)
 
+find_package(gazebo_ros QUIET)
 
-# Depend on system install of Gazebo and SDFormat
-find_package(gazebo REQUIRED)
-find_package(Boost REQUIRED COMPONENTS thread random)
+if(NOT gazebo_ros_FOUND)
+  message(WARNING "gazebo_ros IS NOT FOUND, so copmile ${PROJECT_NAME}
+without gazebo")
+endif()
+
+if(gazebo_ros_FOUND)
+
+  find_package(catkin REQUIRED COMPONENTS std_msgs geometry_msgs)
+  # Depend on system install of Gazebo and SDFormat
+  find_package(gazebo REQUIRED)
+  find_package(Boost REQUIRED COMPONENTS thread random)
 
-###################################
-## catkin specific configuration ##
-###################################
-catkin_package(
+  ###################################
+  ## catkin specific configuration ##
+  ###################################
+  catkin_package(
     CATKIN_DEPENDS
-)
+    )
 
-# build plugins
-include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS})
+  # build plugins
+  include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS})
 
-add_library(mbzirc_gazebo_truck_plugin src/mbzirc_gazebo_truck_plugin.cpp)
-target_link_libraries(mbzirc_gazebo_truck_plugin ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+  add_library(mbzirc_gazebo_truck_plugin src/mbzirc_gazebo_truck_plugin.cpp)
+  target_link_libraries(mbzirc_gazebo_truck_plugin ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-add_library(mbzirc_gazebo_panel_plugin src/mbzirc_gazebo_panel_plugin.cpp)
-target_link_libraries(mbzirc_gazebo_panel_plugin ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+  add_library(mbzirc_gazebo_panel_plugin src/mbzirc_gazebo_panel_plugin.cpp)
+  target_link_libraries(mbzirc_gazebo_panel_plugin ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-add_library(mbzirc_gazebo_treasure_plugin src/mbzirc_gazebo_treasure_plugin.cpp)
-target_link_libraries(mbzirc_gazebo_treasure_plugin ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+  add_library(mbzirc_gazebo_treasure_plugin src/mbzirc_gazebo_treasure_plugin.cpp)
+  target_link_libraries(mbzirc_gazebo_treasure_plugin ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-add_library(mbzirc_gazebo_uav_collision_rule_plugin src/mbzirc_gazebo_uav_collision_rule_plugin.cpp)
-target_link_libraries(mbzirc_gazebo_uav_collision_rule_plugin ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+  add_library(mbzirc_gazebo_uav_collision_rule_plugin src/mbzirc_gazebo_uav_collision_rule_plugin.cpp)
+  target_link_libraries(mbzirc_gazebo_uav_collision_rule_plugin ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-#############
-## Install ##
-#############
-install(TARGETS
-  mbzirc_gazebo_truck_plugin mbzirc_gazebo_panel_plugin mbzirc_gazebo_treasure_plugin
-  mbzirc_gazebo_uav_collision_rule_plugin
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  )
+  #############
+  ## Install ##
+  #############
+  install(TARGETS
+    mbzirc_gazebo_truck_plugin mbzirc_gazebo_panel_plugin mbzirc_gazebo_treasure_plugin
+    mbzirc_gazebo_uav_collision_rule_plugin
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    )
 
-install(DIRECTORY launch gazebo_model
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  USE_SOURCE_PERMISSIONS)
+  install(DIRECTORY launch gazebo_model
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+    USE_SOURCE_PERMISSIONS)
 
 
-#############
-## Testing ##
-#############
-if(CATKIN_ENABLE_TESTING)
-  find_package(rostest REQUIRED)
-  find_package(roslaunch REQUIRED)
-  find_package(roslint REQUIRED)
-  roslint_cpp()
-  roslint_python()
-  roslint_add_test()
-  roslaunch_add_file_check(launch/mbzirc_arena.launch)
-  roslaunch_add_file_check(launch/mbzirc_arena_1.launch)
-  roslaunch_add_file_check(launch/mbzirc_arena_2.launch)
-  roslaunch_add_file_check(launch/mbzirc_arena_3.launch)
+  #############
+  ## Testing ##
+  #############
+  if(CATKIN_ENABLE_TESTING)
+    find_package(rostest REQUIRED)
+    find_package(roslaunch REQUIRED)
+    find_package(roslint REQUIRED)
+    roslint_cpp()
+    roslint_python()
+    roslint_add_test()
+    roslaunch_add_file_check(launch/mbzirc_arena.launch)
+    roslaunch_add_file_check(launch/mbzirc_arena_1.launch)
+    roslaunch_add_file_check(launch/mbzirc_arena_2.launch)
+    roslaunch_add_file_check(launch/mbzirc_arena_3.launch)
+  endif()
 endif()
diff --git a/jsk_mbzirc_tasks/CMakeLists.txt b/jsk_mbzirc_tasks/CMakeLists.txt
index 8228503..c135800 100644
--- a/jsk_mbzirc_tasks/CMakeLists.txt
+++ b/jsk_mbzirc_tasks/CMakeLists.txt
@@ -4,10 +4,11 @@ project(jsk_mbzirc_tasks)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS roscpp gazebo_ros)
+find_package(catkin REQUIRED COMPONENTS roscpp)
 
 # Depend on system install of Gazebo and SDFormat
-find_package(gazebo REQUIRED)
+find_package(gazebo_ros QUIET)
+
 
 ###################################
 ## catkin specific configuration ##
diff --git a/mbzirc.rosinstall b/mbzirc.rosinstall
index 3e49ad8..253a89c 100644
--- a/mbzirc.rosinstall
+++ b/mbzirc.rosinstall
@@ -19,5 +19,5 @@
 # https://github.com/ros-simulation/gazebo_ros_pkgs/pull/460
 - git:
     local-name: gazebo_ros_pkgs
-    uri: https://github.com/furushchev/gazebo_ros_pkgs.git
-    version: fix-camera-util
+    uri: https://github.com/ros-simulation/gazebo_ros_pkgs.git
+    version: indigo-devel