diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 000000000..3c34ef1dd
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,67 @@
+# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html
+cmake_minimum_required(VERSION 2.8.3)
+project(jskeus)
+
+find_package(euslisp REQUIRED)
+message(STATUS "ARCHDIR=${ARCHDIR}")
+message(STATUS "EUSDIR=${EUSDIR}")
+
+execute_process(COMMAND grep version ${PROJECT_SOURCE_DIR}/package.xml
+                COMMAND sed -e s/[^0-9.]//g
+                OUTPUT_VARIABLE jskeus_VERSION
+                OUTPUT_STRIP_TRAILING_WHITESPACE)
+message(STATUS "euslisp_VERSION : ${euslisp_VERSION}")
+message(STATUS "jskeus_VERSION  : ${jskeus_VERSION}")
+
+# if EUSDIR is write protected use share as target directory
+execute_process(COMMAND test -w ${EUSDIR} RESULT_VARIABLE eusdir_WRITABLE)
+
+# catkin
+find_package(catkin)
+catkin_package()
+
+# build irteus
+if(${eusdir_WRITABLE} EQUAL 0)
+  message(STATUS "eusdir_WRITABLE : TRUE")
+  set(INSTALLDIR ${EUSDIR}) # install to EUSDIR
+else()
+  message(STATUS "eusdir_WRITABLE : FALSE")
+  set(INSTALLDIR $ENV{DESTDIR}${CATKIN_DEVEL_PREFIX}/share/euslisp) # install to prefix/eusdir
+  message(STATUS "INSTALLDIR ${INSTALLDIR}")
+  execute_process(
+    COMMAND cmake -E make_directory ${INSTALLDIR}
+    COMMAND cmake -E copy_directory ${EUSDIR}/lib ${INSTALLDIR}/lib
+    COMMAND cmake -E copy_directory ${EUSDIR}/${ARCHDIR} ${INSTALLDIR}/${ARCHDIR})
+endif()
+add_custom_target(compile_jskeus ALL
+  COMMAND export EUSDIR=${EUSDIR} DISPLAY="" lt_cv_sys_lib_dlsearch_path_spec=${lt_cv_sys_lib_dlsearch_path_spec} && \$\(MAKE\) -j1 -l1 -C ${PROJECT_SOURCE_DIR}/irteus -f Makefile ARCHDIR=${ARCHDIR} EUSDIR=${EUSDIR} IRTEUSDIR=${INSTALLDIR} 'SVNVERSION=\\"${jskeus_VERSION}\\"' VERBOSE=1
+  COMMAND cmake -E remove -f ${INSTALLDIR}/irteus
+  COMMAND cmake -E create_symlink ${PROJECT_SOURCE_DIR}/irteus ${INSTALLDIR}/irteus
+)
+
+# catkin envs
+if(${eusdir_WRITABLE} EQUAL 0) # EUSDIR IS WRITABLE
+else()                         # EUSDIR IS NOT WRITABLE
+  catkin_add_env_hooks(99.jskeus SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks SKIP_INSTALL)
+endif()
+
+# install
+install(DIRECTORY doc irteus
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS)
+install(FILES ${INSTALLDIR}/lib/irtext.l DESTINATION share/euslisp/lib)
+# install ont included in euslisp
+install(CODE "
+foreach(dir bin lib obj)
+  execute_process(COMMAND cmake -E make_directory \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/euslisp/${ARCHDIR}/\${dir})
+  file(GLOB programs RELATIVE ${INSTALLDIR}/${ARCHDIR}/\${dir} ${INSTALLDIR}/${ARCHDIR}/\${dir}/*)
+  foreach(program \${programs})
+   if(NOT EXISTS ${EUSDIR}/${ARCHDIR}/\${dir}/\${program})
+     message(STATUS \"install ${ARCHDIR}/\${dir}/\${program}\")
+     execute_process(COMMAND cmake -E copy \${program} \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/euslisp/${ARCHDIR}/\${dir} WORKING_DIRECTORY ${INSTALLDIR}/${ARCHDIR}/\${dir})
+    endif()
+  endforeach()
+endforeach()
+")
+install(CODE "execute_process(COMMAND cmake -E remove -f \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/euslisp/irteus)")
+install(CODE "execute_process(COMMAND cmake -E create_symlink \${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/irteus \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/euslisp/irteus)")
diff --git a/env-hooks/99.jskeus.sh.in b/env-hooks/99.jskeus.sh.in
new file mode 100644
index 000000000..20bc856e9
--- /dev/null
+++ b/env-hooks/99.jskeus.sh.in
@@ -0,0 +1,4 @@
+export EUSDIR=@INSTALLDIR@
+export LD_LIBRARY_PATH=$EUSDIR/$ARCHDIR/lib:$LD_LIBRARY_PATH
+export PATH=$EUSDIR/$ARCHDIR/bin:$PATH
+
diff --git a/irteus/Makefile b/irteus/Makefile
index d80341eae..938e5a925 100644
--- a/irteus/Makefile
+++ b/irteus/Makefile
@@ -159,7 +159,7 @@ $(BINS):
 	(cd $(INSTALLBINDIR); ln -sf eus$(ESFX) irteus$(ESFX))
 	(cd $(INSTALLBINDIR); ln -sf eusgl$(ESFX) irteusgl$(ESFX))
 $(EUSDIR)/irteus:
-	(cd $(IRTEUSDIR); ln -sf ../irteus irteus)
+	(cd $(IRTEUSDIR); rm -f irteus; ln -sf ../irteus irteus)
 
 install-irtext.l: $(IRTEUSDIR)/lib/irtext.l
 $(IRTEUSDIR)/lib/irtext.l: irtext.l
diff --git a/package.xml b/package.xml
new file mode 100644
index 000000000..7b7d60436
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,23 @@
+<package>
+  <name>jskeus</name>
+  <version>1.1.0</version>
+  <description>EusLisp software developed and used by JSK at The University of Tokyo</description>
+  <maintainer email="k-okada@jsk.t.u-tokyo.ac.jp">Kei Okada</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://euslisp.github.io/jskeus/manual.html</url>
+  <url type="bugtracker">https://github.com/euslisp/jskeus/issues</url>
+
+  <author>JSK Alumnis</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>euslisp</build_depend>
+
+  <run_depend>euslisp</run_depend>
+
+  <export>
+  </export>
+
+</package>