diff --git a/nextage_description/CMakeLists.txt b/nextage_description/CMakeLists.txt
index d6c2d43d..b432509c 100644
--- a/nextage_description/CMakeLists.txt
+++ b/nextage_description/CMakeLists.txt
@@ -8,75 +8,21 @@ find_package(catkin REQUIRED COMPONENTS
   urdf
 )
 
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
+## BEGIN: Moved from nextage_ros_bridge/CMakeLists.txt
+# To enable openhrp3
+find_package(PkgConfig)
+pkg_check_modules(openhrp3 openhrp3.1 REQUIRED)
+set(OPENHRP3 ${openhrp3_PREFIX}/share/openhrp3)  # for longfloor.wrl
+set(COLLADA_EXPORTER ${openhrp3_PREFIX}/share/openhrp3/export-collada)
+
+set(ROBOT_NAME main)  # Aiming main.dae. Use same file prefix with VRML for intuitition
+message("++ Generate collada file from vrml. nextage_description/models/main.wrl -> ${PROJECT_SOURCE_DIR}/models/${ROBOT_NAME}.dae")
+add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/models/${ROBOT_NAME}.dae
+  COMMAND ${COLLADA_EXPORTER} -i ${PROJECT_SOURCE_DIR}/models/main.wrl -o ${PROJECT_SOURCE_DIR}/models/${ROBOT_NAME}.dae
+  DEPENDS ${PROJECT_SOURCE_DIR}/models/main.wrl)
+add_custom_target(${PROJECT_NAME}_model_copy ALL DEPENDS ${PROJECT_SOURCE_DIR}/models/${ROBOT_NAME}.dae)
+## END: Moved from nextage_ros_bridge/CMakeLists.txt
 
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES nextage_description
@@ -95,23 +41,6 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-## Declare a cpp library
-# add_library(nextage_description
-#   src/${PROJECT_NAME}/nextage_description.cpp
-# )
-
-## Declare a cpp executable
-# add_executable(nextage_description_node src/nextage_description_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(nextage_description_node nextage_description_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(nextage_description_node
-#   ${catkin_LIBRARIES}
-# )
-
 #############
 ## Install ##
 #############
@@ -119,35 +48,6 @@ include_directories(
 # all install targets should use catkin DESTINATION variables
 # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
 
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS nextage_description nextage_description_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-## Mark cpp header files for installation
 install(DIRECTORY models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY urdf   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY www    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/nextage_description/package.xml b/nextage_description/package.xml
index 88eca5c0..f2293617 100644
--- a/nextage_description/package.xml
+++ b/nextage_description/package.xml
@@ -15,6 +15,7 @@
   <url type="repository">https://github.com/tork-a/rtmros_nextage</url>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>openhrp3</build_depend>
   <build_depend>urdf</build_depend>
   <run_depend>urdf</run_depend>
 
diff --git a/nextage_ros_bridge/CMakeLists.txt b/nextage_ros_bridge/CMakeLists.txt
index a2d33e4d..b4527fc6 100644
--- a/nextage_ros_bridge/CMakeLists.txt
+++ b/nextage_ros_bridge/CMakeLists.txt
@@ -32,7 +32,7 @@ roslint_python()
 find_package(PkgConfig)
 pkg_check_modules(openhrp3 openhrp3.1 REQUIRED)
 set(OPENHRP3 ${openhrp3_PREFIX}/share/openhrp3)  # for longfloor.wrl
-set(ROBOT_NAME nextage)
+set(ROBOT_NAME main)  # Aiming main.dae. Use same file prefix with VRML for intuitition
 
 message("hironx_ros_bridge_SOURCE_DIR => ${hironx_ros_bridge_SOURCE_DIR}")
 message("hironx_ros_bridge_SOURCE_PREFIX => ${hironx_ros_bridge_SOURCE_PREFIX}")
@@ -55,20 +55,6 @@ configure_file(${hironx_ros_bridge_SOURCE_DIR}/conf/conf.in
 configure_file(${hironx_ros_bridge_SOURCE_DIR}/conf/nosim.conf.in               ${PROJECT_SOURCE_DIR}/conf/${ROBOT_NAME}_nosim.conf)
 add_custom_target(${PROJECT_NAME}_model_files ALL DEPENDS ${PROJECT_SOURCE_DIR}/conf/${ROBOT_NAME}.RobotHardware.conf ${PROJECT_SOURCE_DIR}/conf/${ROBOT_NAME}_nosim.RobotHardware.conf ${PROJECT_SOURCE_DIR}/conf/${ROBOT_NAME}.xml ${PROJECT_SOURCE_DIR}/conf/${ROBOT_NAME}_nosim.xml ${PROJECT_SOURCE_DIR}/conf/${ROBOT_NAME}.conf ${PROJECT_SOURCE_DIR}/conf/${ROBOT_NAME}_nosim.conf)
 
-#compile_openhrp_model(${nextage_description_SOURCE_DIR}/models/main.wrl)
-message("++ nextage_description/models/main.dae -> ${nextage_description_SOURCE_DIR}/models/main.dae")
-if(NOT EXISTS ${nextage_description_SOURCE_DIR}/models/main.dae)
-  if(EXISTS ${nextage_description_SOURCE_PREFIX}/models/main.dae)
-    set(nextage_description_SOURCE_DIR ${nextage_description_SOURCE_PREFIX})
-  else(EXISTS ${nextage_description_SOURCE_PREFIX}/models/main.dae)
-    set(nextage_description_SOURCE_DIR ${nextage_description_PREFIX}/share/nextage_description)
-  endif(EXISTS ${nextage_description_SOURCE_PREFIX}/models/main.dae)
-endif()
-add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/models/${ROBOT_NAME}.dae
-  COMMAND ${CMAKE_COMMAND} -E copy ${nextage_description_SOURCE_DIR}/models/main.dae ${PROJECT_SOURCE_DIR}/models/${ROBOT_NAME}.dae
-  DEPENDS ${nextage_description_SOURCE_DIR}/models/main.dae)
-add_custom_target(${PROJECT_NAME}_model_copy ALL DEPENDS ${PROJECT_SOURCE_DIR}/models/${ROBOT_NAME}.dae)
-
 #############
 ## Install ##
 #############
@@ -101,7 +87,6 @@ add_custom_target(${PROJECT_NAME}_model_copy ALL DEPENDS ${PROJECT_SOURCE_DIR}/m
 install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY script DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} USE_SOURCE_PERMISSIONS)
 install(DIRECTORY conf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} PATTERN "*.in" EXCLUDE)
-install(DIRECTORY models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 #install(DIRECTORY test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} USE_SOURCE_PERMISSIONS)
 
 install(CODE "
@@ -132,3 +117,4 @@ install(DIRECTORY test
   USE_SOURCE_PERMISSIONS)
 
 add_rostest(test/nxo.test)
+add_rostest(test/ros_model.test)
diff --git a/nextage_ros_bridge/test/ros_model.test b/nextage_ros_bridge/test/ros_model.test
new file mode 100644
index 00000000..fb3d7676
--- /dev/null
+++ b/nextage_ros_bridge/test/ros_model.test
@@ -0,0 +1,29 @@
+<launch>
+  <!-- This .test is to check joint status, which indirectly ensures if model is successfully loaded. -->
+
+  <arg name="COLLADA_FILE" default="$(find nextage_description)/models/main.dae" />
+  <arg name="corbaport" default="2809" />
+  <arg name="GUI" default='false' />
+  <arg name="VRML_FILE" default="$(find nextage_description)/models/main.wrl" />
+
+  <!-- Define name for testing model availability at runtime -->
+  <arg name="TESTNAME_ENSURE_MODEL" default="hz_joints" />       
+
+  <!-- See https://github.com/start-jsk/rtmros_common/issues/416#issuecomment-46846623 -->
+  <node name="start_omninames" pkg="rtmbuild" type="start_omninames.sh"
+        args="$(arg corbaport)" />
+ 
+  <include file="$(find nextage_ros_bridge)/launch/nextage_ros_bridge_simulation.launch" >
+    <arg name="COLLADA_FILE" value="$(arg COLLADA_FILE)" />
+    <arg name="CORBAPORT" value="$(arg corbaport)" />
+    <arg name="GUI" value="$(arg GUI)" />
+    <arg name="MODEL_FILE" value="$(arg VRML_FILE)" />
+  </include>         
+
+  <param name="$(arg TESTNAME_ENSURE_MODEL)/hz" value="200.0" />
+  <param name="$(arg TESTNAME_ENSURE_MODEL)/hzerror" value="30.0" />
+  <param name="$(arg TESTNAME_ENSURE_MODEL)/test_duration" value="10.0" />
+  <param name="$(arg TESTNAME_ENSURE_MODEL)/topic" value="joint_states" />
+  <param name="$(arg TESTNAME_ENSURE_MODEL)/wait_time" value="180.0" />
+  <test pkg="rostest" type="hztest" name="$(arg TESTNAME_ENSURE_MODEL)" test-name="test_$(arg TESTNAME_ENSURE_MODEL)" />   
+</launch>