diff --git a/jsk_pcl_ros/CMakeLists.txt b/jsk_pcl_ros/CMakeLists.txt
index 653eed2115..b586d62ae5 100644
--- a/jsk_pcl_ros/CMakeLists.txt
+++ b/jsk_pcl_ros/CMakeLists.txt
@@ -49,22 +49,57 @@ IF(${yaml_cpp_VERSION} VERSION_LESS "0.5.0")
   add_definitions("-DUSE_OLD_YAML")
 ENDIF()
 
-add_service_files(FILES SwitchTopic.srv
-  UpdateOffset.srv
-  SnapFootstep.srv
-  SetDepthCalibrationParameter.srv
-  TransformScreenpoint.srv
+macro(add_deprecated_service_files)
+  cmake_parse_arguments(ARG "" "UPSTREAM" "FILES" ${ARGN})
+  if(ARG_UNPARSED_ARGUMENTS)
+    message(FATAL_ERROR "add_deprecated_service_files() called with unused arguments: ${ARG_UNPARSED_ARGUMENTS}")
+  endif()
+
+  if(${PROJECT_NAME}_GENERATE_MESSAGES)
+    message(FATAL_ERROR "generate_messages() must be called after add_deprecated_service_files()")
+  endif()
+
+  if(EXISTS ${${ARG_UPSTREAM}_SOURCE_PREFIX}/srv)
+    set(_srv_prefix ${${ARG_UPSTREAM}_SOURCE_PREFIX})
+  else()
+    set(_srv_prefix ${${ARG_UPSTREAM}_PREFIX}/share/${ARG_UPSTREAM})
+  endif()
+
+  set(FILES_W_PATH "")
+  foreach(file ${ARG_FILES})
+    list(APPEND FILES_W_PATH ${_srv_prefix}/srv/${file})
+    list(APPEND ${PROJECT_NAME}_SERVICE_FILES ${_srv_prefix}/srv/${file})
+    assert_file_exists(${_srv_prefix}/srv/${file} "service file not found")
+  endforeach()
+
+  install(FILES ${FILES_W_PATH} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srv)
+  foreach(file ${ARG_FILES})
+    list(APPEND ${PROJECT_NAME}_INSTALLED_SERVICE_FILES "srv/${file}")
+  endforeach()
+endmacro()
+
+# Service files which are moved to the upstream package 'jsk_recognition_msgs'
+add_deprecated_service_files(
+  UPSTREAM jsk_recognition_msgs
+  FILES
+  CallPolygon.srv
+  CallSnapIt.srv
   CheckCircle.srv
+  CheckCollision.srv
+  EnvironmentLock.srv
+  EuclideanSegment.srv
+  ICPAlign.srv
+  ICPAlignWithBox.srv
+  PolygonOnEnvironment.srv
   RobotPickupReleasePoint.srv
+  SetDepthCalibrationParameter.srv
+  SnapFootstep.srv
+  SwitchTopic.srv
   TowerPickUp.srv
-  EuclideanSegment.srv
   TowerRobotMoveCommand.srv
-  CallSnapIt.srv CallPolygon.srv
-  EnvironmentLock.srv
-  PolygonOnEnvironment.srv
-  ICPAlignWithBox.srv
-  ICPAlign.srv
-  CheckCollision.srv)
+  TransformScreenpoint.srv
+  UpdateOffset.srv
+)
 
 # generate the dynamic_reconfigure config file
 generate_dynamic_reconfigure_options(
diff --git a/jsk_pcl_ros/package.xml b/jsk_pcl_ros/package.xml
index 95756d4615..d15b95caed 100644
--- a/jsk_pcl_ros/package.xml
+++ b/jsk_pcl_ros/package.xml
@@ -20,6 +20,7 @@
   <build_depend>cv_bridge</build_depend>
   <build_depend>tf</build_depend>
   <build_depend>sensor_msgs</build_depend>
+  <build_depend>genmsg</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>stereo_msgs</build_depend>
   <build_depend>nodelet</build_depend>
diff --git a/jsk_recognition_msgs/CMakeLists.txt b/jsk_recognition_msgs/CMakeLists.txt
index 74c1662709..906d864512 100644
--- a/jsk_recognition_msgs/CMakeLists.txt
+++ b/jsk_recognition_msgs/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(jsk_recognition_msgs)
 find_package(catkin REQUIRED
-  std_msgs sensor_msgs geometry_msgs message_generation pcl_msgs)
+  std_msgs sensor_msgs geometry_msgs message_generation pcl_msgs jsk_footstep_msgs)
 add_message_files(
   FILES
   BoundingBoxArray.msg
@@ -60,15 +60,32 @@ add_message_files(
   )
 
 add_service_files(FILES
+  CallPolygon.srv
+  CallSnapIt.srv
+  CheckCircle.srv
+  CheckCollision.srv
+  EnvironmentLock.srv
+  EuclideanSegment.srv
+  ICPAlign.srv
+  ICPAlignWithBox.srv
+  PolygonOnEnvironment.srv
+  RobotPickupReleasePoint.srv
+  SetDepthCalibrationParameter.srv
   SetPointCloud2.srv
-  )
+  SnapFootstep.srv
+  SwitchTopic.srv
+  TowerPickUp.srv
+  TowerRobotMoveCommand.srv
+  TransformScreenpoint.srv
+  UpdateOffset.srv
+)
 
 generate_messages(
   DEPENDENCIES
-  std_msgs sensor_msgs geometry_msgs pcl_msgs
+  std_msgs sensor_msgs geometry_msgs pcl_msgs jsk_footstep_msgs
 )
 catkin_package(
-  CATKIN_DEPENDS std_msgs sensor_msgs geometry_msgs pcl_msgs
+  CATKIN_DEPENDS std_msgs sensor_msgs geometry_msgs pcl_msgs jsk_footstep_msgs
 )
 
 install(DIRECTORY scripts
diff --git a/jsk_recognition_msgs/package.xml b/jsk_recognition_msgs/package.xml
index 8a9723c2e5..25a4eaa027 100644
--- a/jsk_recognition_msgs/package.xml
+++ b/jsk_recognition_msgs/package.xml
@@ -16,6 +16,8 @@
   <run_depend>sensor_msgs</run_depend>
   <build_depend>message_generation</build_depend>
   <run_depend>message_generation</run_depend>
+  <build_depend>jsk_footstep_msgs</build_depend>
+  <run_depend>jsk_footstep_msgs</run_depend>
   <export>
   </export>
 </package>
diff --git a/jsk_pcl_ros/srv/CallPolygon.srv b/jsk_recognition_msgs/srv/CallPolygon.srv
similarity index 100%
rename from jsk_pcl_ros/srv/CallPolygon.srv
rename to jsk_recognition_msgs/srv/CallPolygon.srv
diff --git a/jsk_pcl_ros/srv/CallSnapIt.srv b/jsk_recognition_msgs/srv/CallSnapIt.srv
similarity index 100%
rename from jsk_pcl_ros/srv/CallSnapIt.srv
rename to jsk_recognition_msgs/srv/CallSnapIt.srv
diff --git a/jsk_pcl_ros/srv/CheckCircle.srv b/jsk_recognition_msgs/srv/CheckCircle.srv
similarity index 100%
rename from jsk_pcl_ros/srv/CheckCircle.srv
rename to jsk_recognition_msgs/srv/CheckCircle.srv
diff --git a/jsk_pcl_ros/srv/CheckCollision.srv b/jsk_recognition_msgs/srv/CheckCollision.srv
similarity index 100%
rename from jsk_pcl_ros/srv/CheckCollision.srv
rename to jsk_recognition_msgs/srv/CheckCollision.srv
diff --git a/jsk_pcl_ros/srv/EnvironmentLock.srv b/jsk_recognition_msgs/srv/EnvironmentLock.srv
similarity index 100%
rename from jsk_pcl_ros/srv/EnvironmentLock.srv
rename to jsk_recognition_msgs/srv/EnvironmentLock.srv
diff --git a/jsk_pcl_ros/srv/EuclideanSegment.srv b/jsk_recognition_msgs/srv/EuclideanSegment.srv
similarity index 100%
rename from jsk_pcl_ros/srv/EuclideanSegment.srv
rename to jsk_recognition_msgs/srv/EuclideanSegment.srv
diff --git a/jsk_pcl_ros/srv/ICPAlign.srv b/jsk_recognition_msgs/srv/ICPAlign.srv
similarity index 100%
rename from jsk_pcl_ros/srv/ICPAlign.srv
rename to jsk_recognition_msgs/srv/ICPAlign.srv
diff --git a/jsk_pcl_ros/srv/ICPAlignWithBox.srv b/jsk_recognition_msgs/srv/ICPAlignWithBox.srv
similarity index 100%
rename from jsk_pcl_ros/srv/ICPAlignWithBox.srv
rename to jsk_recognition_msgs/srv/ICPAlignWithBox.srv
diff --git a/jsk_pcl_ros/srv/PolygonOnEnvironment.srv b/jsk_recognition_msgs/srv/PolygonOnEnvironment.srv
similarity index 100%
rename from jsk_pcl_ros/srv/PolygonOnEnvironment.srv
rename to jsk_recognition_msgs/srv/PolygonOnEnvironment.srv
diff --git a/jsk_pcl_ros/srv/RobotPickupReleasePoint.srv b/jsk_recognition_msgs/srv/RobotPickupReleasePoint.srv
similarity index 100%
rename from jsk_pcl_ros/srv/RobotPickupReleasePoint.srv
rename to jsk_recognition_msgs/srv/RobotPickupReleasePoint.srv
diff --git a/jsk_pcl_ros/srv/SetDepthCalibrationParameter.srv b/jsk_recognition_msgs/srv/SetDepthCalibrationParameter.srv
similarity index 100%
rename from jsk_pcl_ros/srv/SetDepthCalibrationParameter.srv
rename to jsk_recognition_msgs/srv/SetDepthCalibrationParameter.srv
diff --git a/jsk_pcl_ros/srv/SnapFootstep.srv b/jsk_recognition_msgs/srv/SnapFootstep.srv
similarity index 100%
rename from jsk_pcl_ros/srv/SnapFootstep.srv
rename to jsk_recognition_msgs/srv/SnapFootstep.srv
diff --git a/jsk_pcl_ros/srv/SwitchTopic.srv b/jsk_recognition_msgs/srv/SwitchTopic.srv
similarity index 100%
rename from jsk_pcl_ros/srv/SwitchTopic.srv
rename to jsk_recognition_msgs/srv/SwitchTopic.srv
diff --git a/jsk_pcl_ros/srv/TowerPickUp.srv b/jsk_recognition_msgs/srv/TowerPickUp.srv
similarity index 100%
rename from jsk_pcl_ros/srv/TowerPickUp.srv
rename to jsk_recognition_msgs/srv/TowerPickUp.srv
diff --git a/jsk_pcl_ros/srv/TowerRobotMoveCommand.srv b/jsk_recognition_msgs/srv/TowerRobotMoveCommand.srv
similarity index 100%
rename from jsk_pcl_ros/srv/TowerRobotMoveCommand.srv
rename to jsk_recognition_msgs/srv/TowerRobotMoveCommand.srv
diff --git a/jsk_pcl_ros/srv/TransformScreenpoint.srv b/jsk_recognition_msgs/srv/TransformScreenpoint.srv
similarity index 100%
rename from jsk_pcl_ros/srv/TransformScreenpoint.srv
rename to jsk_recognition_msgs/srv/TransformScreenpoint.srv
diff --git a/jsk_pcl_ros/srv/UpdateOffset.srv b/jsk_recognition_msgs/srv/UpdateOffset.srv
similarity index 100%
rename from jsk_pcl_ros/srv/UpdateOffset.srv
rename to jsk_recognition_msgs/srv/UpdateOffset.srv