diff --git a/jsk_hrp2_ros_bridge/catkin.cmake b/jsk_hrp2_ros_bridge/catkin.cmake
index a46e8f3a..efbdfb13 100644
--- a/jsk_hrp2_ros_bridge/catkin.cmake
+++ b/jsk_hrp2_ros_bridge/catkin.cmake
@@ -21,6 +21,8 @@ if(EXISTS ${openrtm_ros_bridge_SOURCE_PREFIX}/../hrpsys)
   set(hrpsys_SOURCE_DIR ${openrtm_ros_bridge_SOURCE_PREFIX}/../hrpsys)
 elseif(hrpsys_SOURCE_PREFIX AND EXISTS ${hrpsys_SOURCE_PREFIX})
   set(hrpsys_SOURCE_DIR ${hrpsys_SOURCE_PREFIX})
+elseif(hrpsys_PREFIX AND EXISTS ${hrpsys_PREFIX})
+  set(hrpsys_SOURCE_DIR ${hrpsys_PREFIX}/share/hrpsys/src/)
 else(EXISTS ${openrtm_ros_bridge_SOURCE_PREFIX}/../hrpsys)
   # Assuming that hrpsys source is available on somewhere workspace.
   # Checking all the workspaces if it does have hrpsys directory on the
@@ -46,7 +48,11 @@ if(NOT jsk_hrp2_ros_bridge_FOUND)
   file(REMOVE ${CMAKE_CURRENT_BINARY_DIR}/installed)
 endif()
 
-if(NOT EXISTS ${CMAKE_CURRENT_BINARY_DIR}/installed)
+if(NOT EXISTS ${hrpsys_SOURCE_DIR}/CMakeLists.txt)
+  message(WARNING "### ${hrpsys_SOURCE_DIR}/CMakeLists.txt does not exists so we do not compile HRP3Hand Controller")
+  message(WARNING "### so if you want to use them please install hrpsys from source code")
+endif()
+if(NOT EXISTS ${CMAKE_CURRENT_BINARY_DIR}/installed AND EXISTS ${hrpsys_SOURCE_DIR}/CMakeLists.txt)
   set(ENV{PATH} ${openrtm_aist_PREFIX}/lib/openrtm_aist/bin/:$ENV{PATH}) #update PATH for rtm-config
   if (NOT EXISTS ${PROJECT_SOURCE_DIR}/patch)
     execute_process(COMMAND ln -sf ${hrpsys_SOURCE_DIR}/patch ${PROJECT_SOURCE_DIR}/patch)
@@ -67,7 +73,7 @@ if(NOT EXISTS ${CMAKE_CURRENT_BINARY_DIR}/installed)
   if (_make_failed)
     message(FATAL_ERROR "Compile hrpsys failed")
   endif(_make_failed)
-endif(NOT EXISTS ${CMAKE_CURRENT_BINARY_DIR}/installed)
+endif(NOT EXISTS ${CMAKE_CURRENT_BINARY_DIR}/installed AND EXISTS ${hrpsys_SOURCE_DIR}/CMakeLists.txt)
 
 # include rtmbuild
 if(EXISTS ${rtmbuild_SOURCE_DIR}/cmake/rtmbuild.cmake)