diff --git a/robotis_controller/include/robotis_controller/robotis_controller.h b/robotis_controller/include/robotis_controller/robotis_controller.h
index c2eec4a..6ee5c26 100755
--- a/robotis_controller/include/robotis_controller/robotis_controller.h
+++ b/robotis_controller/include/robotis_controller/robotis_controller.h
@@ -28,6 +28,7 @@
 #include <ros/ros.h>
 #include <boost/thread.hpp>
 #include <yaml-cpp/yaml.h>
+#include <std_msgs/Bool.h>
 #include <std_msgs/String.h>
 #include <std_msgs/Float64.h>
 #include <sensor_msgs/JointState.h>
@@ -38,7 +39,6 @@
 #include "robotis_controller_msgs/GetJointModule.h"
 #include "robotis_controller_msgs/SetJointModule.h"
 #include "robotis_controller_msgs/SetModule.h"
-#include "robotis_controller_msgs/EnableOffset.h"
 #include "robotis_controller_msgs/LoadOffset.h"
 
 #include "robotis_device/robot.h"
@@ -142,10 +142,10 @@ public:
   void    setJointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg);
   void    setJointCtrlModuleCallback(const robotis_controller_msgs::JointCtrlModule::ConstPtr &msg);
   void    setCtrlModuleCallback(const std_msgs::String::ConstPtr &msg);
+  void    enableOffsetCallback(const std_msgs::Bool::ConstPtr &msg);
   bool    getJointCtrlModuleService(robotis_controller_msgs::GetJointModule::Request &req, robotis_controller_msgs::GetJointModule::Response &res);
   bool    setJointCtrlModuleService(robotis_controller_msgs::SetJointModule::Request &req, robotis_controller_msgs::SetJointModule::Response &res);
   bool    setCtrlModuleService(robotis_controller_msgs::SetModule::Request &req, robotis_controller_msgs::SetModule::Response &res);
-  bool    enableOffsetService(robotis_controller_msgs::EnableOffset::Request &req, robotis_controller_msgs::EnableOffset::Response &res);
   bool    loadOffsetService(robotis_controller_msgs::LoadOffset::Request &req, robotis_controller_msgs::LoadOffset::Response &res);
 
   void    gazeboJointStatesCallback(const sensor_msgs::JointState::ConstPtr &msg);
diff --git a/robotis_controller/src/robotis_controller/robotis_controller.cpp b/robotis_controller/src/robotis_controller/robotis_controller.cpp
index eb8d74e..1e0de91 100755
--- a/robotis_controller/src/robotis_controller/robotis_controller.cpp
+++ b/robotis_controller/src/robotis_controller/robotis_controller.cpp
@@ -636,6 +636,8 @@ void RobotisController::msgQueueThread()
                                                                &RobotisController::setControllerModeCallback, this);
   ros::Subscriber joint_states_sub        = ros_node.subscribe("/robotis/set_joint_states", 10,
                                                                &RobotisController::setJointStatesCallback, this);
+  ros::Subscriber enable_offset_sub       = ros_node.subscribe("/robotis/enable_offset", 10,
+                                                               &RobotisController::enableOffsetCallback, this);
 
   ros::Subscriber gazebo_joint_states_sub;
   if (gazebo_mode_ == true)
@@ -668,8 +670,6 @@ void RobotisController::msgQueueThread()
                                                         &RobotisController::setJointCtrlModuleService, this);
   ros::ServiceServer set_module_server = ros_node.advertiseService("/robotis/set_present_ctrl_modules",
                                                         &RobotisController::setCtrlModuleService, this);
-  ros::ServiceServer enable_offset_server = ros_node.advertiseService("/robotis/enable_offset",
-                                                        &RobotisController::enableOffsetService, this);
   ros::ServiceServer load_offset_server = ros_node.advertiseService("/robotis/load_offset",
                                                         &RobotisController::loadOffsetService, this);
 
@@ -1735,6 +1735,11 @@ void RobotisController::setJointCtrlModuleCallback(const robotis_controller_msgs
   set_module_thread_ = boost::thread(boost::bind(&RobotisController::setJointCtrlModuleThread, this, msg));
 }
 
+void RobotisController::enableOffsetCallback(const std_msgs::Bool::ConstPtr &msg)
+{
+  is_offset_enabled_ = (bool)msg->data;
+}
+
 bool RobotisController::getJointCtrlModuleService(robotis_controller_msgs::GetJointModule::Request &req,
     robotis_controller_msgs::GetJointModule::Response &res)
 {
@@ -1790,13 +1795,6 @@ bool RobotisController::setCtrlModuleService(robotis_controller_msgs::SetModule:
   return true;
 }
 
-bool RobotisController::enableOffsetService(robotis_controller_msgs::EnableOffset::Request &req, robotis_controller_msgs::EnableOffset::Response &res)
-{
-  is_offset_enabled_ = (bool)req.enable;
-  res.result = true;
-  return true;
-}
-
 bool RobotisController::loadOffsetService(robotis_controller_msgs::LoadOffset::Request &req, robotis_controller_msgs::LoadOffset::Response &res)
 {
   loadOffset((std::string)req.file_path);