diff --git a/robotis_controller/CMakeLists.txt b/robotis_controller/CMakeLists.txt
index f7f73b3..4830cf7 100644
--- a/robotis_controller/CMakeLists.txt
+++ b/robotis_controller/CMakeLists.txt
@@ -14,11 +14,9 @@ find_package(catkin REQUIRED COMPONENTS
   roslib
   sensor_msgs
   std_msgs
-  robotis_device
   robotis_controller_msgs
   robotis_framework_common
   cmake_modules
-  dynamixel_sdk
 )
 
 ################################################################################
@@ -35,7 +33,7 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES robotis_controller
-  CATKIN_DEPENDS roscpp roslib sensor_msgs std_msgs
+  CATKIN_DEPENDS roscpp roslib sensor_msgs std_msgs robotis_framework_common
 )
 
 ################################################################################
diff --git a/robotis_controller/package.xml b/robotis_controller/package.xml
index b86d7bf..9085521 100644
--- a/robotis_controller/package.xml
+++ b/robotis_controller/package.xml
@@ -16,16 +16,13 @@
   <build_depend>roslib</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
-  <build_depend>dynamixel_sdk</build_depend>
-  <build_depend>robotis_device</build_depend>
   <build_depend>robotis_controller_msgs</build_depend>
   <build_depend>robotis_framework_common</build_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>roslib</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>sensor_msgs</run_depend>
-  <run_depend>dynamixel_sdk</run_depend>
-  <run_depend>robotis_device</run_depend>
   <run_depend>robotis_controller_msgs</run_depend>
-  <export></export>
+  <run_depend>robotis_framework_common</run_depend>
+    <export></export>
 </package>
diff --git a/robotis_framework_common/CMakeLists.txt b/robotis_framework_common/CMakeLists.txt
index 430fbee..c0505b1 100644
--- a/robotis_framework_common/CMakeLists.txt
+++ b/robotis_framework_common/CMakeLists.txt
@@ -25,7 +25,7 @@ find_package(catkin REQUIRED COMPONENTS
 ################################################################################
 catkin_package(
   INCLUDE_DIRS include
-#  LIBRARIES robotis_framework_common
+  LIBRARIES robotis_framework_common
   CATKIN_DEPENDS roscpp robotis_device
 )
 
@@ -36,6 +36,12 @@ include_directories(
   include
   ${catkin_INCLUDE_DIRS}
 )
+add_library(${PROJECT_NAME}
+  include/${PROJECT_NAME}/motion_module.h
+  include/${PROJECT_NAME}/sensor_module.h
+  include/${PROJECT_NAME}/singleton.h
+)
+set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX)
 
 ################################################################################
 # Install