diff --git a/.travis.yml b/.travis.yml
index 19f10d5b7..8bfed63c7 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -40,6 +40,7 @@ matrix:
   - env: USE_TRAVIS=true ROS_DISTRO=indigo USE_DEB=true    EXTRA_DEB="ros-indigo-hrpsys-ros-bridge ros-indigo-pr2eus" CATKIN_PARALLEL_JOBS='-p4' NOT_TEST_INSTALL=true IS_EUSLISP_TRAVIS_TEST="true"
   - env: USE_TRAVIS=true TEST_TYPE=work_with_downstream  TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=jade EXTRA_DEB="ros-jade-roslint"
   - env: USE_TRAVIS=true TEST_TYPE=work_with_315_1_10    TEST_PACKAGE=hironx-ros-bridge ROS_DISTRO=jade EXTRA_DEB="ros-jade-roslint"
+  - env: USE_TRAVIS=true ROS_DISTRO=jade   USE_DEB=true
 notifications:
   email:
     recipients:
@@ -51,6 +52,7 @@ before_script:
   - set -x
   - if [ "${TRAVIS_SECURE_ENV_VARS}" == "true" ]; then openssl aes-256-cbc -K $encrypted_b79fc5843df3_key -iv $encrypted_b79fc5843df3_iv -in .secrets.tar.enc -out .secrets.tar -d; tar -C ~/ -xvf .secrets.tar; export INSTALL_SRC="$INSTALL_SRC $INSTALL_SRC_SECURE"; export TEST_PKGS="$TEST_PKGS $TEST_PKGS_SECURE"; fi
   - export REPOSITORY_NAME=`basename $PWD`
+  - if [ "${ROS_DISTRO}" == "indigo" -o "${ROS_DISTRO}" == "jade" ] ; then sudo apt-get install -y --force-yes dpkg; fi
   - if [ "${INSTALL_SRC}" != "" ] ;then export sudo apt-get install python-yaml; export BEFORE_SCRIPT="$(for src in $INSTALL_SRC; do name=`basename $src`; echo "python -c \"import yaml;print yaml.dump([{\\\"git\\\":{\\\"uri\\\":\\\"$src\\\",\\\"local-name\\\":\\\"$name\\\"}}], default_flow_style=False)\" >> .rosinstall;"; done)ls -al; cat .rosinstall; wstool update"; export USE_DEB=false; fi; # set USE_DEB false to enable .travis.rosinstall
 script:
   - if [ "${IS_EUSLISP_TRAVIS_TEST}" != "true" ] ; then export ROS_PARALLEL_JOBS="-j2 -l2" ; fi
diff --git a/hrpsys_ros_bridge/CMakeLists.txt b/hrpsys_ros_bridge/CMakeLists.txt
index 66848dd00..f642c192b 100644
--- a/hrpsys_ros_bridge/CMakeLists.txt
+++ b/hrpsys_ros_bridge/CMakeLists.txt
@@ -103,6 +103,7 @@ rtmbuild_genbridge()
 string(RANDOM _random_string)
 
 rtmbuild_add_executable(HrpsysSeqStateROSBridge src/HrpsysSeqStateROSBridgeImpl.cpp src/HrpsysSeqStateROSBridge.cpp src/HrpsysSeqStateROSBridgeComp.cpp)
+include_directories(${hrpsys_INCLUDE_DIRS}) ## for compiling image and pointcloud using hrpsys's IDL
 rtmbuild_add_executable(ImageSensorROSBridge src/ImageSensorROSBridge.cpp src/ImageSensorROSBridgeComp.cpp)
 rtmbuild_add_executable(RangeSensorROSBridge src/RangeSensorROSBridge.cpp src/RangeSensorROSBridgeComp.cpp)
 rtmbuild_add_executable(PointCloudROSBridge src/PointCloudROSBridge.cpp src/PointCloudROSBridgeComp.cpp)
diff --git a/hrpsys_ros_bridge/src/PointCloudROSBridgeComp.cpp b/hrpsys_ros_bridge/src/PointCloudROSBridgeComp.cpp
index cee3abf17..3162a3448 100644
--- a/hrpsys_ros_bridge/src/PointCloudROSBridgeComp.cpp
+++ b/hrpsys_ros_bridge/src/PointCloudROSBridgeComp.cpp
@@ -17,8 +17,7 @@ void MyModuleInit(RTC::Manager* manager)
   RTC::RtcBase* comp;
 
   // Create a component
-  comp = manager->createComponent("PointCloudROSBridge");
-
+  comp = manager->createComponent(std::string("PointCloudROSBridge?instance_name="+ros::this_node::getName().substr(ros::this_node::getNamespace().length())).c_str());
 
   // Example
   // The following procedure is examples how handle RT-Components.
diff --git a/hrpsys_ros_bridge/src/RangeSensorROSBridgeComp.cpp b/hrpsys_ros_bridge/src/RangeSensorROSBridgeComp.cpp
index 90e5adb98..1ecbec664 100644
--- a/hrpsys_ros_bridge/src/RangeSensorROSBridgeComp.cpp
+++ b/hrpsys_ros_bridge/src/RangeSensorROSBridgeComp.cpp
@@ -17,8 +17,7 @@ void MyModuleInit(RTC::Manager* manager)
   RTC::RtcBase* comp;
 
   // Create a component
-  comp = manager->createComponent("RangeSensorROSBridge");
-
+  comp = manager->createComponent(std::string("RangeSensorROSBridge?instance_name="+ros::this_node::getName().substr(ros::this_node::getNamespace().length())).c_str());
 
   // Example
   // The following procedure is examples how handle RT-Components.