diff --git a/smach_tutorials/CMakeLists.txt b/smach_tutorials/CMakeLists.txt
index 51d8078..7ce53a4 100644
--- a/smach_tutorials/CMakeLists.txt
+++ b/smach_tutorials/CMakeLists.txt
@@ -1,34 +1,24 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+cmake_minimum_required(VERSION 2.8.3)
+project(smach_tutorials)
 
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
+find_package(catkin REQUIRED COMPONENTS
+  genmsg
+  actionlib_msgs
+  actionlib
+  geometry_msgs
+)
 
-rosbuild_find_ros_package(actionlib_msgs)
-include(${actionlib_msgs_PACKAGE_PATH}/cmake/actionbuild.cmake)
-genaction()
+catkin_python_setup()
 
-rosbuild_init()
+add_action_files(
+  DIRECTORY
+  action
+  FILES
+  Test.action
+)
 
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
+generate_messages(
+  DEPENDENCIES
+  geometry_msgs
+  actionlib_msgs
+)
\ No newline at end of file
diff --git a/smach_tutorials/manifest.xml b/smach_tutorials/manifest.xml
deleted file mode 100644
index 5ab2254..0000000
--- a/smach_tutorials/manifest.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<package>
-  <description brief="smach_tutorials">
-    This package containes numerous examples of how to use SMACH. See the examples directory.
-  </description>
-  <author>Jonathan Bohren</author>
-  <license>BSD</license>
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/smach_tutorials</url>
-
-  <depend package='rospy'/>
-  <depend package='smach'/>
-  <depend package='smach_ros'/>
-
-  <depend package='turtlesim'/>
-  <!--depend package='turtle_actionlib'/-->
-
-  <depend package='actionlib'/>
-  <depend package='actionlib_msgs'/>
-
-  <export>
-    <cpp cflags="-I${prefix}/msg/cpp"/>
-  </export>
-
-</package>
-
-
diff --git a/smach_tutorials/package.xml b/smach_tutorials/package.xml
new file mode 100644
index 0000000..8fa4aaa
--- /dev/null
+++ b/smach_tutorials/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package>
+  <name>smach_tutorials</name>
+  <version>1.0.0</version>
+  <description>Action sever to interface between the planning system and the drone</description>
+
+  <maintainer email="bcchoi@yujinrobot.com">Bcchoi</maintainer>
+
+  <license>BSD</license>
+
+  <build_depend>actionlib</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
+
+  <run_depend>actionlib</run_depend>
+  <run_depend>actionlib_msgs</run_depend>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+</package>
\ No newline at end of file
diff --git a/smach_tutorials/scripts/usecase_01/executive_step_01.py b/smach_tutorials/scripts/usecase_01/executive_step_01.py
index 20aaaa6..6a8cf25 100755
--- a/smach_tutorials/scripts/usecase_01/executive_step_01.py
+++ b/smach_tutorials/scripts/usecase_01/executive_step_01.py
@@ -18,7 +18,7 @@
     [ERROR] : Container consistency check failed.
 """
 
-import roslib; roslib.load_manifest('smach_tutorials')
+# import roslib; roslib.load_manifest('smach_tutorials') use on rosbuild
 import rospy
 import smach
 
diff --git a/smach_tutorials/scripts/usecase_01/executive_step_02.py b/smach_tutorials/scripts/usecase_01/executive_step_02.py
index c96cab8..6dfd637 100755
--- a/smach_tutorials/scripts/usecase_01/executive_step_02.py
+++ b/smach_tutorials/scripts/usecase_01/executive_step_02.py
@@ -14,13 +14,13 @@
 
 """
 
-import roslib; roslib.load_manifest('smach_tutorials')
+# import roslib; roslib.load_manifest('smach_tutorials') use on rosbuild
 import rospy
 
 import threading
 
 import smach
-from smach import StateMachine, ServiceState, SimpleActionState
+from smach_ros import ServiceState, SimpleActionState
 
 import std_srvs.srv
 import turtlesim.srv
@@ -29,17 +29,17 @@ def main():
     rospy.init_node('smach_usecase_step_02')
 
     # Create a SMACH state machine
-    sm0 = StateMachine(outcomes=['succeeded','aborted','preempted'])
+    sm0 = smach.StateMachine(outcomes=['succeeded','aborted','preempted'])
 
     # Open the container
     with sm0:
         # Reset turtlesim
-        StateMachine.add('RESET',
+        smach.StateMachine.add('RESET',
                 ServiceState('reset', std_srvs.srv.Empty),
                 {'succeeded':'SPAWN'})
 
         # Create a second turtle
-        StateMachine.add('SPAWN',
+        smach.StateMachine.add('SPAWN',
                 ServiceState('spawn', turtlesim.srv.Spawn,
                     request = turtlesim.srv.SpawnRequest(0.0,0.0,0.0,'turtle2')))
 
diff --git a/smach_tutorials/scripts/usecase_01/executive_step_03.py b/smach_tutorials/scripts/usecase_01/executive_step_03.py
index da27185..7cfc106 100755
--- a/smach_tutorials/scripts/usecase_01/executive_step_03.py
+++ b/smach_tutorials/scripts/usecase_01/executive_step_03.py
@@ -4,7 +4,7 @@
 
 Usage:
     $> roslaunch turtle_nodes.launch
-    $> ./executive_step_02.py
+    $> ./executive_step_03.py
 
 Output:
     [INFO] : State machine starting in initial state 'RESET' with userdata: 
@@ -14,19 +14,19 @@
 
 """
 
-import roslib; roslib.load_manifest('smach_tutorials')
+# import roslib; roslib.load_manifest('smach_tutorials')
 import rospy
 
 import threading
 
-import smach
-from smach import StateMachine, ServiceState, SimpleActionState, IntrospectionServer
+from smach import StateMachine
+from smach_ros import ServiceState, SimpleActionState, IntrospectionServer
 
 import std_srvs.srv
 import turtlesim.srv
 
 def main():
-    rospy.init_node('smach_usecase_step_02')
+    rospy.init_node('smach_usecase_step_03')
 
     # Create a SMACH state machine
     sm0 = StateMachine(outcomes=['succeeded','aborted','preempted'])
diff --git a/smach_tutorials/scripts/usecase_01/executive_step_04.py b/smach_tutorials/scripts/usecase_01/executive_step_04.py
index f6fe6d9..8faa07f 100755
--- a/smach_tutorials/scripts/usecase_01/executive_step_04.py
+++ b/smach_tutorials/scripts/usecase_01/executive_step_04.py
@@ -20,18 +20,18 @@
 
 """
 
-import roslib; roslib.load_manifest('smach_tutorials')
+# import roslib; roslib.load_manifest('smach_tutorials')
 import rospy
 
 import threading
 
-import smach
-from smach import StateMachine, ServiceState, SimpleActionState, IntrospectionServer
+from smach import StateMachine
+from smach_ros import ServiceState, SimpleActionState, IntrospectionServer
 
 import std_srvs.srv
 import turtlesim.srv
 import turtle_actionlib.msg
-
+from smach_ros import util
 
 def main():
     rospy.init_node('smach_usecase_step_04')
@@ -84,7 +84,7 @@ def main():
     sis.start()
 
     # Set preempt handler
-    smach.set_preempt_handler(sm0)
+    util.set_preempt_handler(sm0)
 
     # Execute SMACH tree in a separate thread so that we can ctrl-c the script
     smach_thread = threading.Thread(target = sm0.execute)
diff --git a/smach_tutorials/scripts/usecase_01/executive_step_05.py b/smach_tutorials/scripts/usecase_01/executive_step_05.py
index 97d1ae4..07cfae8 100755
--- a/smach_tutorials/scripts/usecase_01/executive_step_05.py
+++ b/smach_tutorials/scripts/usecase_01/executive_step_05.py
@@ -23,18 +23,18 @@
     [INFO] : State machine terminating 'DRAW_SHAPES':'succeeded':'succeeded'
 """
 
-import roslib; roslib.load_manifest('smach_tutorials')
+# import roslib; roslib.load_manifest('smach_tutorials')
 import rospy
 
 import threading
 
-import smach
-from smach import StateMachine, ServiceState, SimpleActionState, IntrospectionServer, Concurrence
+from smach import StateMachine, Concurrence
+from smach_ros import ServiceState, SimpleActionState, IntrospectionServer
 
 import std_srvs.srv
 import turtlesim.srv
 import turtle_actionlib.msg
-
+from smach_ros import util
 
 def main():
     rospy.init_node('smach_usecase_step_05')
@@ -94,7 +94,7 @@ def main():
     sis.start()
 
     # Set preempt handler
-    smach.set_preempt_handler(sm0)
+    util.set_preempt_handler(sm0)
 
     # Execute SMACH tree in a separate thread so that we can ctrl-c the script
     smach_thread = threading.Thread(target = sm0.execute)
diff --git a/smach_tutorials/scripts/usecase_01/executive_step_06.py b/smach_tutorials/scripts/usecase_01/executive_step_06.py
index 802f153..c66da33 100755
--- a/smach_tutorials/scripts/usecase_01/executive_step_06.py
+++ b/smach_tutorials/scripts/usecase_01/executive_step_06.py
@@ -39,7 +39,7 @@
 
 """
 
-import roslib; roslib.load_manifest('smach_tutorials')
+# import roslib; roslib.load_manifest('smach_tutorials')
 import rospy
 
 import threading
diff --git a/smach_tutorials/scripts/usecase_01/executive_step_07.py b/smach_tutorials/scripts/usecase_01/executive_step_07.py
index 2ed6c81..c8b508b 100755
--- a/smach_tutorials/scripts/usecase_01/executive_step_07.py
+++ b/smach_tutorials/scripts/usecase_01/executive_step_07.py
@@ -39,7 +39,7 @@
 
 """
 
-import roslib; roslib.load_manifest('smach_tutorials')
+# import roslib; roslib.load_manifest('smach_tutorials')
 import rospy
 
 import threading
diff --git a/smach_tutorials/setup.py b/smach_tutorials/setup.py
new file mode 100644
index 0000000..f45f50e
--- /dev/null
+++ b/smach_tutorials/setup.py
@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+   packages=['smach_tutorials'],
+)
+
+setup(**d)