diff --git a/eus_assimp/CMakeLists.txt b/eus_assimp/CMakeLists.txt
index 490acd269..f43d32fdc 100644
--- a/eus_assimp/CMakeLists.txt
+++ b/eus_assimp/CMakeLists.txt
@@ -1,3 +1,7 @@
+if(NOT USE_ROSBUILD)
+  include(catkin.cmake)
+  return()
+endif()
 cmake_minimum_required(VERSION 2.4.6)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 
@@ -23,12 +27,16 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 include (FindPkgConfig)
 pkg_check_modules (SDLIMG SDL_image)
 
+rosbuild_find_ros_package(assimp_devel)
+set(ENV{PKG_CONFIG_PATH} ${assimp_devel_PACKAGE_PATH}/lib/pkgconfig:$ENV{PKG_CONFIG_PATH})
+pkg_check_modules(assimpdevel assimp_devel REQUIRED)
+
 #common commands for building c++ executables and libraries
 rosbuild_find_ros_package(euslisp)
 # for using convex decomposition in openrave/3rdparty
 rosbuild_find_ros_package(openrave)
-include_directories(/usr/include /usr/X11R6/include ${euslisp_PACKAGE_PATH}/jskeus/eus/include ${openrave_PACKAGE_PATH}/openrave_git/3rdparty/convexdecomposition ${SDLIMG_INCLUDE_DIRS})
-link_directories ("${openrave_PACKAGE_PATH}/build/3rdparty/convexdecomposition")
+include_directories(/usr/include /usr/X11R6/include ${euslisp_PACKAGE_PATH}/jskeus/eus/include ${openrave_PACKAGE_PATH}/openrave_git/3rdparty/convexdecomposition ${SDLIMG_INCLUDE_DIRS} ${assimpdevel_INCLUDE_DIRS})
+link_directories ("${openrave_PACKAGE_PATH}/build/3rdparty/convexdecomposition" ${assimpdevel_LIBRARY_DIRS})
 
 rosbuild_add_library(eus_assimp src/eus_assimp.cpp)
 #rosbuild_add_boost_directories()
@@ -38,6 +46,7 @@ if(EXISTS ${openrave_PACKAGE_PATH}/build/3rdparty/convexdecomposition/libconvexd
   target_link_libraries(eus_assimp convexdecomposition)
   add_definitions(-DCOMPILE_CONVEX_DECOMPOSITION=1)
 endif()
+target_link_libraries(eus_assimp ${assimpdevel_LIBRARIES})
 
 if(SDLIMG_FOUND)
 #  message(STATUS "SDL_image found")
@@ -58,3 +67,7 @@ endif()
 
 rosbuild_add_compile_flags(eus_assimp ${COMPILE_FLAGS})
 set_target_properties(eus_assimp PROPERTIES PREFIX "" SUFFIX ".so")
+
+add_dependencies(eus_assimp libassimp_devel)
+
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/euslisp)
\ No newline at end of file
diff --git a/eus_assimp/Makefile b/eus_assimp/Makefile
index b75b928f2..73e8a9171 100644
--- a/eus_assimp/Makefile
+++ b/eus_assimp/Makefile
@@ -1 +1,2 @@
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
+EXTRA_CMAKE_FLAGS = -DUSE_ROSBUILD:BOOL=1
+include $(shell rospack find mk)/cmake.mk
diff --git a/eus_assimp/catkin.cmake b/eus_assimp/catkin.cmake
new file mode 100644
index 000000000..b570895e9
--- /dev/null
+++ b/eus_assimp/catkin.cmake
@@ -0,0 +1,62 @@
+# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html
+cmake_minimum_required(VERSION 2.8.3)
+project(eus_assimp)
+
+# Load catkin and all dependencies required for this package
+# TODO: remove all from COMPONENTS that are not catkin packages.
+find_package(catkin REQUIRED COMPONENTS euslisp)
+
+set(ENV{PKG_CONFIG_PATH} "$ENV{PKG_CONFIG_PATH}:${CATKIN_DEVEL_PREFIX}/lib/pkgconfig")
+
+find_package(PkgConfig)
+pkg_check_modules(assimpdevel assimp_devel REQUIRED)
+# CATKIN_MIGRATION: removed during catkin migration
+# rosbuild_add_boost_directories()
+if(EXISTS ${euslisp_SOURCE_DIR}/jskeus)
+  set(euslisp_PACKAGE_PATH ${euslisp_SOURCE_DIR})
+else()
+  set(euslisp_PACKAGE_PATH ${euslisp_PREFIX}/share/euslisp)
+endif()
+message("-- Set euslisp_PACKAGE_PATH to ${euslisp_PACKAGE_PATH}")
+set(euslisp_INCLUDE_DIRS ${euslisp_PACKAGE_PATH}/jskeus/eus/include)
+message("-- Set euslisp_INCLUDE_DIRS to ${euslisp_INCLUDE_DIRS}")
+include_directories(/usr/include /usr/X11R6/include ${euslisp_INCLUDE_DIRS} ${assimpdevel_INCLUDE_DIRS})
+link_directories(${assimpdevel_LIBRARY_DIRS})
+add_library(eus_assimp src/eus_assimp.cpp)
+
+target_link_libraries(eus_assimp ${assimpdevel_LIBRARIES})
+set_target_properties(eus_assimp PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/euslisp)
+add_dependencies(eus_assimp libassimp_devel)
+
+# compile flags
+add_definitions(-O2 -Wno-write-strings -Wno-comment)
+add_definitions(-Di486 -DLinux -D_REENTRANT -DVERSION='\"9.00\"' -DTHREADED -DPTHREAD -DX11R6_1)
+add_definitions('-DREPOVERSION="\\"${REPOVERSION}\\""')
+if(${CMAKE_SYSTEM_PROCESSOR} MATCHES amd64* OR
+   ${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64* )
+ add_definitions(-Dx86_64)
+else()
+ add_definitions(-Di486)
+endif()
+
+if(${CMAKE_SYSTEM_NAME} MATCHES Darwin)
+ add_definitions(-Dx86_64)
+ set(CMAKE_SHARED_LIBRARY_CREATE_CXX_FLAGS "${CMAKE_SHARED_LIBRARY_CREATE_CXX_FLAGS} -flat_namespace -undefined suppress")
+endif()
+
+set_target_properties(eus_assimp PROPERTIES PREFIX "" SUFFIX ".so")
+
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+    DEPENDS
+    CATKIN_DEPENDS # euslisp TODO
+    INCLUDE_DIRS # TODO include
+    LIBRARIES assimp_devel # TODO
+)
+
+# install
+install(DIRECTORY euslisp
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS)
diff --git a/eus_assimp/euslisp/eus-assimp.l b/eus_assimp/euslisp/eus-assimp.l
index ac11a2f2e..5c101000f 100644
--- a/eus_assimp/euslisp/eus-assimp.l
+++ b/eus_assimp/euslisp/eus-assimp.l
@@ -1,7 +1,7 @@
 ;;
 ;; assimp mesh reader for euslisp
 ;;
-(require :eus-assimp "package://eus_assimp/lib/eus_assimp.so")
+(require :eus-assimp "package://eus_assimp/euslisp/eus_assimp.so")
 
 (defconstant *aiProcess_CalcTangentSpace*         #x1)
 (defconstant *aiProcess_JoinIdenticalVertices*    #x2)
diff --git a/eus_assimp/package.xml b/eus_assimp/package.xml
new file mode 100644
index 000000000..3eb4cda4b
--- /dev/null
+++ b/eus_assimp/package.xml
@@ -0,0 +1,28 @@
+<package>
+  <name>eus_assimp</name>
+  <version>0.1.0</version>
+  <description>eus_assimp</description>
+
+  <maintainer email="youhei@jsk.imi.i.u-tokyo.ac.jp">Yohei Kakiuchi</maintainer>
+
+  <license>BSD</license>
+
+  <!-- <url type="bugtracker"></url> -->
+
+  <author email="youhei@jsk.imi.i.u-tokyo.ac.jp">Yohei Kakiuchi</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!--build_depend>roseus</build_depend-->
+  <build_depend>assimp_devel</build_depend>
+
+  <run_depend>roseus</run_depend>
+  <run_depend>assimp_devel</run_depend>
+
+  <!-- <test_depend>euslisp</test_depend> -->
+  <!-- <test_depend>roseus</test_depend> -->
+
+  <export>
+    <rosdoc config="rosdoc.yaml"/>
+  </export>
+</package>
diff --git a/eus_assimp/src/eus_assimp.cpp b/eus_assimp/src/eus_assimp.cpp
index 0af414c0d..2170d91a1 100644
--- a/eus_assimp/src/eus_assimp.cpp
+++ b/eus_assimp/src/eus_assimp.cpp
@@ -1,15 +1,8 @@
-#if 0
-// assimp 2
-#include <assimp/assimp.hpp>
-#include <assimp/aiScene.h>
-#include <assimp/aiPostProcess.h>
-#endif
-
-// assimp 3
-#include <assimp/Importer.hpp>
-#include <assimp/Exporter.hpp>
-#include <assimp/postprocess.h>
-#include <assimp/scene.h>
+// assimp_devel
+#include <Importer.hpp>
+#include <Exporter.hpp>
+#include <postprocess.h>
+#include <scene.h>
 
 // convex decomposition
 #if COMPILE_CONVEX_DECOMPOSITION