diff --git a/op3_action_module_msgs/CHANGELOG.rst b/op3_action_module_msgs/CHANGELOG.rst
new file mode 100644
index 0000000..1b6028a
--- /dev/null
+++ b/op3_action_module_msgs/CHANGELOG.rst
@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package op3_action_module_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2017-10-27)
+-----------
+* added msg package for ROBOTIS OP3
+* Contributors: Kayman
diff --git a/op3_action_module_msgs/CMakeLists.txt b/op3_action_module_msgs/CMakeLists.txt
index b699711..85b8fd0 100644
--- a/op3_action_module_msgs/CMakeLists.txt
+++ b/op3_action_module_msgs/CMakeLists.txt
@@ -4,13 +4,12 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(op3_action_module_msgs)
 
-
 ################################################################################
 # Packages
 ################################################################################
 find_package(catkin REQUIRED COMPONENTS
-  std_msgs
   message_generation
+  std_msgs
 )
 
 ################################################################################
diff --git a/op3_action_module_msgs/package.xml b/op3_action_module_msgs/package.xml
index 86718b3..4d041a6 100644
--- a/op3_action_module_msgs/package.xml
+++ b/op3_action_module_msgs/package.xml
@@ -2,13 +2,18 @@
 <package>
   <name>op3_action_module_msgs</name>
   <version>0.1.0</version>
-  <description>The op3_action_module_msgs package</description>
+  <description>
+    Message and service types: custom messages and services for ROBOTIS OP3 packages
+  </description>
   <license>Apache License 2.0</license>
+  <author email="kmjung@robotis.com">Kayman</author>
   <maintainer email="pyo@robotis.com">Pyo</maintainer>
-  <author email="hjsong@robotis.com">ROBOTIS</author>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Msgs/issues</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Msgs</url>
+  <url type="website">http://wiki.ros.org/robotis_op3_msgs</url>
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>message_generation</build_depend>
-  <build_depend>std_msgs</build_depend>  
+  <build_depend>std_msgs</build_depend>
+  <run_depend>message_runtime</run_depend>
   <run_depend>std_msgs</run_depend>
-  <run_depend>message_runtime</run_depend>  
 </package>
diff --git a/op3_offset_tuner_msgs/CHANGELOG.rst b/op3_offset_tuner_msgs/CHANGELOG.rst
new file mode 100644
index 0000000..6d2c80a
--- /dev/null
+++ b/op3_offset_tuner_msgs/CHANGELOG.rst
@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package op3_offset_tuner_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2017-10-27)
+-----------
+* added msg package for ROBOTIS OP3
+* Contributors: Kayman
diff --git a/op3_offset_tuner_msgs/CMakeLists.txt b/op3_offset_tuner_msgs/CMakeLists.txt
index 12a05a3..2ac0dc5 100644
--- a/op3_offset_tuner_msgs/CMakeLists.txt
+++ b/op3_offset_tuner_msgs/CMakeLists.txt
@@ -8,10 +8,8 @@ project(op3_offset_tuner_msgs)
 # Packages
 ################################################################################
 find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  rospy
-  std_msgs
   message_generation
+  std_msgs
 )
 
 ################################################################################
@@ -43,6 +41,7 @@ generate_messages(
 # Catkin specific configuration
 ################################################################################
 catkin_package(
+  CATKIN_DEPENDS message_runtime std_msgs
 )
 
 ################################################################################
diff --git a/op3_offset_tuner_msgs/package.xml b/op3_offset_tuner_msgs/package.xml
index 45a185b..f8f63d8 100644
--- a/op3_offset_tuner_msgs/package.xml
+++ b/op3_offset_tuner_msgs/package.xml
@@ -2,17 +2,19 @@
 <package>
   <name>op3_offset_tuner_msgs</name>
   <version>0.1.0</version>
-  <description>The offset_tuner_msgs package</description>
+  <description>
+    Message and service types: custom messages and services for ROBOTIS OP3 packages
+  </description>
   <license>Apache License 2.0</license>
-  <author email="hjsong@robotis.com">Jay</author>
+  <author email="kmjung@robotis.com">Kayman</author>
   <maintainer email="pyo@robotis.com">Pyo</maintainer>
-  <buildtool_depend>catkin</buildtool_depend>  
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Msgs/issues</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Msgs</url>
+  <url type="website">http://wiki.ros.org/robotis_op3_msgs</url>
+  <buildtool_depend>catkin</buildtool_depend>
   <build_depend>message_generation</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>std_msgs</build_depend>  
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>std_msgs</run_depend>
+  <build_depend>std_msgs</build_depend>
   <run_depend>message_runtime</run_depend>
+  <run_depend>std_msgs</run_depend>
 </package>
+
diff --git a/op3_walking_module_msgs/CHANGELOG.rst b/op3_walking_module_msgs/CHANGELOG.rst
new file mode 100644
index 0000000..51fa570
--- /dev/null
+++ b/op3_walking_module_msgs/CHANGELOG.rst
@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package op3_walking_module_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2017-10-27)
+-----------
+* added msg package for ROBOTIS OP3
+* Contributors: Kayman, Yoshimaru Tanaka
diff --git a/op3_walking_module_msgs/CMakeLists.txt b/op3_walking_module_msgs/CMakeLists.txt
index 8929451..fafd3d0 100644
--- a/op3_walking_module_msgs/CMakeLists.txt
+++ b/op3_walking_module_msgs/CMakeLists.txt
@@ -9,8 +9,6 @@ project(op3_walking_module_msgs)
 ################################################################################
 find_package(catkin REQUIRED COMPONENTS
   message_generation
-  roscpp
-  rospy
   std_msgs
 )
 
@@ -40,7 +38,9 @@ generate_messages(
 ################################################################################
 # Catkin specific configuration
 ################################################################################
-catkin_package()
+catkin_package(
+  CATKIN_DEPENDS message_runtime std_msgs
+)
 
 ################################################################################
 # Build
diff --git a/op3_walking_module_msgs/package.xml b/op3_walking_module_msgs/package.xml
index 0dd9081..4aa7c4f 100644
--- a/op3_walking_module_msgs/package.xml
+++ b/op3_walking_module_msgs/package.xml
@@ -2,16 +2,18 @@
 <package>
   <name>op3_walking_module_msgs</name>
   <version>0.1.0</version>
-  <description>The op3_walking_module_msgs package</description>
+  <description>
+    Message and service types: custom messages and services for ROBOTIS OP3 packages
+  </description>
   <license>Apache License 2.0</license>
   <author email="kmjung@robotis.com">Kayman</author>
   <maintainer email="pyo@robotis.com">Pyo</maintainer>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Msgs/issues</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Msgs</url>
+  <url type="website">http://wiki.ros.org/robotis_op3_msgs</url>
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>message_generation</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospy</run_depend>
+  <run_depend>message_runtime</run_depend>
   <run_depend>std_msgs</run_depend>
 </package>
diff --git a/robotis_op3_msgs/CHANGELOG.rst b/robotis_op3_msgs/CHANGELOG.rst
new file mode 100644
index 0000000..b2240fd
--- /dev/null
+++ b/robotis_op3_msgs/CHANGELOG.rst
@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package robotis_op3_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2017-10-27)
+-----------
+* added msg package for ROBOTIS OP3
+* Contributors: Kayman
diff --git a/robotis_op3_msgs/package.xml b/robotis_op3_msgs/package.xml
index f2339f1..ac31620 100644
--- a/robotis_op3_msgs/package.xml
+++ b/robotis_op3_msgs/package.xml
@@ -3,24 +3,17 @@
   <name>robotis_op3_msgs</name>
   <version>0.1.0</version>
   <description>
-    ROS packages for the robotis_op3_msgs (meta package)
+    Message and service types: custom messages and services for ROBOTIS OP3 packages
   </description>
-
   <license>Apache License 2.0</license>
   <author email="kmjung@robotis.com">Kayman</author>
   <maintainer email="pyo@robotis.com">Pyo</maintainer>
-
-  <!-- <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Msgs/issues</url> -->
-  <!-- <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Msgs</url> -->
-  <!-- <url type="website">http://wiki.ros.org/robotis_op3_msgs</url> -->
-  
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Msgs/issues</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Msgs</url>
+  <url type="website">http://wiki.ros.org/robotis_op3_msgs</url>
   <buildtool_depend>catkin</buildtool_depend>
-    
   <run_depend>op3_action_module_msgs</run_depend>
   <run_depend>op3_offset_tuner_msgs</run_depend>
   <run_depend>op3_walking_module_msgs</run_depend>
-
-  <export>
-    <metapackage/>
-  </export>
+  <export><metapackage/></export>
 </package>