diff --git a/jsk_pepper_robot/peppereus/pepper-interface.l b/jsk_pepper_robot/peppereus/pepper-interface.l
index 64cad64f12..5ad7cb521d 100644
--- a/jsk_pepper_robot/peppereus/pepper-interface.l
+++ b/jsk_pepper_robot/peppereus/pepper-interface.l
@@ -2,7 +2,6 @@
 
 (load "package://peppereus/pepper.l")
 (load "package://pr2eus/robot-interface.l")
-(ros::load-ros-manifest "jsk_pepper_startup")
 (ros::load-ros-manifest "peppereus")
 
 (if (not (find-package "NAOQI_BRIDGE_MSGS"))
@@ -20,10 +19,10 @@
    (ros::advertise "cmd_pose" geometry_msgs::Pose2D 1)
    (ros::advertise "cmd_vel" geometry_msgs::Twist 1)
    (ros::advertise "/speech" std_msgs::String 1)
-   (ros::advertise "joint_angles" naoqi_bridge_msgs::JointAnglesWithSpeed 1)
+   (ros::advertise "/pepper_robot/pose/joint_angles" naoqi_bridge_msgs::JointAnglesWithSpeed 1)
    (setq joint-stiffness-trajectory-action
 	 (instance ros::simple-action-client :init
-		   "joint_stiffness_trajectory"
+		   "/pepper_robot/pose/joint_stiffness_trajectory"
 		   naoqi_bridge_msgs::JointTrajectoryAction))
    self)
   ;;
@@ -31,7 +30,7 @@
    ()
    (list
     (list
-     (cons :controller-action "joint_trajectory")
+     (cons :controller-action "/pepper_robot/pose/joint_trajectory")
     ;;(cons :controller-state "joint_trajectory")
      (cons :controller-state "dummy_state") ;; this is dummy
      (cons :action-type naoqi_bridge_msgs::JointTrajectoryAction)
@@ -76,7 +75,7 @@
        (:larm 
 	(send start_grasp_msg :joint_names (list "LHand"))
 	(send start_grasp_msg :joint_angles (list value))))
-     (ros::publish "joint_angles" start_grasp_msg)
+     (ros::publish "/pepper_robot/pose/joint_angles" start_grasp_msg)
      ))
   (:start-grasp
    (&optional (arm :arms))
@@ -176,8 +175,8 @@
 			   :time_from_start (ros::time 1))))
      (send joint-stiffness-trajectory-action :send-goal goal)
      ))
-  (:servo-on () (call-empty-service "wakeup"))
-  (:servo-off () (call-empty-service "rest"))
+  (:servo-on () (call-empty-service "pepper_robot/pose/wakeup"))
+  (:servo-off () (call-empty-service "pepper_robot/pose/rest"))
   )
 
 (defmethod pepper-robot