diff --git a/.travis.yml b/.travis.yml
index eca73d2b..27ff7ba6 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -69,7 +69,7 @@ script: # All commands must exit with code 0 on success. Anything else is consid
   # for rosbuild
   - if [ $BUILDER == rosbuild ]; then rosmake -a --profile --pjobs=8       ; fi
   - if [ $BUILDER == rosbuild ]; then export TARGET_PKG=`find -L src | grep $REPOSITORY_NAME | grep /build/Makefile$ | sed s@.*/\\\\\([^\/]*\\\\\)/build/Makefile@\\\1@g` ; fi
-  - if [ $BUILDER == rosbuild ]; then rosmake --test-only $TARGET_PKG      ; fi
+  - if [ $BUILDER == rosbuild ]; then PKG_CONFIG_PATH=`rospack find openhrp3`/lib/pkgconfig:`rospack find hrpsys`/lib/pkgconfig:$PKG_CONFIG_PATH rosmake --test-only $TARGET_PKG      ; fi
 after_failure:
   - find ${HOME}/.ros/test_results -type f -exec echo "=== {} ===" \; -exec cat {} \;
   - for file in ${HOME}/.ros/log/rostest-*; do echo "=== $file ==="; cat $file; done
diff --git a/CMakeLists.txt b/CMakeLists.txt
index fff13014..815ac675 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,3 +11,10 @@ execute_process(COMMAND cmake -E chdir ${PROJECT_SOURCE_DIR} make -f Makefile.hr
 if (_make_failed)
   message(FATAL_ERROR "Build of hrpsys failed")
 endif(_make_failed)
+
+rosbuild_init()
+
+rosbuild_add_rostest(test/test-hrpsys.test)
+rosbuild_add_rostest(test/test-colcheck.test)
+rosbuild_add_rostest(test/test-pa10.test)
+rosbuild_add_rostest(test/test-simulator.test)
diff --git a/Makefile.hrpsys-base b/Makefile.hrpsys-base
index a010d22a..ad2d4a58 100644
--- a/Makefile.hrpsys-base
+++ b/Makefile.hrpsys-base
@@ -7,7 +7,7 @@ SVN_URL = http://hrpsys-base.googlecode.com/svn/tags/315.1.9
 #SVN_REVISION=-r@REVISION@
 
 OPENRTM_DIR ?= $(shell rospack find openrtm_aist)
-PKG_CONFIG_PATH ?= $(shell rospack find openrtm_aist)/lib/pkgconfig:$(shell rospack find openhrp3)/lib/pkgconfig:$(PKG_CONFIG_PATH)
+PKG_CONFIG_PATH := $(shell rospack find openrtm_aist)/lib/pkgconfig:$(shell rospack find openhrp3)/lib/pkgconfig:$(PKG_CONFIG_PATH)
 MK_DIR       = $(shell rospack find mk)
 NUM_OF_CPUS = $(shell grep -c '^processor' /proc/cpuinfo)
 
diff --git a/test/test-jointangle.py b/test/test-jointangle.py
index a8369ff1..4bfd171b 100755
--- a/test/test-jointangle.py
+++ b/test/test-jointangle.py
@@ -3,6 +3,13 @@
 PKG = 'hrpsys'
 NAME = 'test-hostname'
 
+import imp  ## for rosbuild
+try:
+    imp.find_module(PKG)
+except:
+    import roslib; roslib.load_manifest(PKG)
+
+
 import os
 import sys
 import time