diff --git a/nextage_ros_bridge/CMakeLists.txt b/nextage_ros_bridge/CMakeLists.txt
index 2710e88e..6bce2e55 100644
--- a/nextage_ros_bridge/CMakeLists.txt
+++ b/nextage_ros_bridge/CMakeLists.txt
@@ -142,4 +142,5 @@ install(DIRECTORY test
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   add_rostest(test/nxo.test)
+  add_rostest(test/nxo_rosbridge.test)
 endif()
diff --git a/nextage_ros_bridge/conf/nextage.RobotHardware.conf.in b/nextage_ros_bridge/conf/nextage.RobotHardware.conf.in
deleted file mode 100644
index a59ccc1a..00000000
--- a/nextage_ros_bridge/conf/nextage.RobotHardware.conf.in
+++ /dev/null
@@ -1,4 +0,0 @@
-model: file://@PROJECT_SOURCE_DIR@/models/@ROBOT_NAME@.dae
-exec_cxt.periodic.type: hrpExecutionContext
-exec_cxt.periodic.rate: 200
-
diff --git a/nextage_ros_bridge/conf/nextage.conf.in b/nextage_ros_bridge/conf/nextage.conf.in
deleted file mode 100644
index 43634957..00000000
--- a/nextage_ros_bridge/conf/nextage.conf.in
+++ /dev/null
@@ -1,4 +0,0 @@
-collision_pair: RARM_JOINT2:LARM_JOINT2 RARM_JOINT3:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5
-model: model: file://@PROJECT_SOURCE_DIR@/models/@ROBOT_NAME@.dae
-dt: 0.005
-
diff --git a/nextage_ros_bridge/conf/nextage.xml.in b/nextage_ros_bridge/conf/nextage.xml.in
deleted file mode 100644
index 6fed8886..00000000
--- a/nextage_ros_bridge/conf/nextage.xml.in
+++ /dev/null
@@ -1,172 +0,0 @@
-<grxui>
- <mode name="Simulation">
-  <item class="com.generalrobotix.ui.item.GrxSimulationItem" name="simulationItem">
-   <property name="integrate" value="true"/>
-   <property name="timeStep" value="0.005"/>
-   <property name="totalTime" value="2000000.0"/>
-   <property name="method" value="EULER"/>
-  </item>
-  <item class="com.generalrobotix.ui.item.GrxRTSItem" name="HiroNX" select="true">
-   <property name="HiroNX(Robot)0.period" value="0.005"/>
-   <property name="HGcontroller0.period" value="0.005"/>
-   <property name="HGcontroller0.factory" value="HGcontroller"/>
-   <property name="connection" value="HGcontroller0.qOut:HiroNX(Robot)0.qRef"/>
-   <property name="connection" value="HGcontroller0.dqOut:HiroNX(Robot)0.dqRef"/>
-   <property name="connection" value="HGcontroller0.ddqOut:HiroNX(Robot)0.ddqRef"/>
-  </item>
-  <item class="com.generalrobotix.ui.item.GrxModelItem" name="nextage" url="@PROJECT_SOURCE_DIR@/models/@ROBOT_NAME@.dae">
-   <property name="rtcName" value="HiroNX(Robot)0"/>
-   <property name="inport" value="qRef:JOINT_VALUE"/>
-   <property name="inport" value="dqRef:JOINT_VELOCITY"/>
-   <property name="inport" value="ddqRef:JOINT_ACCELERATION"/>
-   <property name="outport" value="q:JOINT_VALUE"/>
-   <property name="outport" value="tau:JOINT_TORQUE"/>
-   <property name="outport" value="CAMERA_HEAD_R:CAMERA_HEAD_R:VISION_SENSOR"/>
-   <property name="outport" value="CAMERA_HEAD_L:CAMERA_HEAD_L:VISION_SENSOR"/>
-   <property name="outport" value="CAMERA_HAND_R:CAMERA_HAND_R:VISION_SENSOR"/>
-   <property name="outport" value="CAMERA_HAND_L:CAMERA_HAND_L:VISION_SENSOR"/>
-   <property name="WAIST.NumOfAABB" value="1"/>
-   <property name="WAIST.translation" value="0  0  0"/>
-   <property name="WAIST.rotation" value="1 0 0 0"/>
-   <property name="WAIST.mode" value="Torque"/>
-   <property name="controller" value="nextage"/>
-   <property name="CHEST_JOINT0.angle" value="0.0"/>
-   <property name="CHEST_JOINT0.mode" value="HighGain"/>
-   <property name="CHEST_JOINT0.NumOfAABB" value="1"/>
-   <property name="HEAD_JOINT0.angle" value="0.0"/>
-   <property name="HEAD_JOINT0.mode" value="HighGain"/>
-   <property name="HEAD_JOINT0.NumOfAABB" value="1"/>
-   <property name="HEAD_JOINT1.angle" value="0.0"/>
-   <property name="HEAD_JOINT1.mode" value="HighGain"/>
-   <property name="HEAD_JOINT1.NumOfAABB" value="1"/>
-   <property name="RARM_JOINT0.angle" value="-0.010472"/>
-   <property name="RARM_JOINT0.mode" value="HighGain"/>
-   <property name="RARM_JOINT0.NumOfAABB" value="1"/>
-   <property name="RARM_JOINT1.angle" value="0.0"/>
-   <property name="RARM_JOINT1.mode" value="HighGain"/>
-   <property name="RARM_JOINT1.NumOfAABB" value="1"/>
-   <property name="RARM_JOINT2.angle" value="-1.74533"/>
-   <property name="RARM_JOINT2.mode" value="HighGain"/>
-   <property name="RARM_JOINT2.NumOfAABB" value="1"/>
-   <property name="RARM_JOINT3.angle" value="0.26529"/>
-   <property name="RARM_JOINT3.mode" value="HighGain"/>
-   <property name="RARM_JOINT3.NumOfAABB" value="1"/>
-   <property name="RARM_JOINT4.angle" value="0.164061"/>
-   <property name="RARM_JOINT4.mode" value="HighGain"/>
-   <property name="RARM_JOINT4.NumOfAABB" value="1"/>
-   <property name="RARM_JOINT5.angle" value="0.055851"/>
-   <property name="RARM_JOINT5.mode" value="HighGain"/>
-   <property name="RARM_JOINT5.NumOfAABB" value="1"/>
-   <property name="RHAND_JOINT0.angle" value="0.0"/>
-   <property name="RHAND_JOINT0.mode" value="HighGain"/>
-   <property name="RHAND_JOINT0.NumOfAABB" value="1"/>
-   <property name="RHAND_JOINT1.angle" value="0.0"/>
-   <property name="RHAND_JOINT1.mode" value="HighGain"/>
-   <property name="RHAND_JOINT1.NumOfAABB" value="1"/>
-   <property name="RHAND_JOINT2.angle" value="0.0"/>
-   <property name="RHAND_JOINT2.mode" value="HighGain"/>
-   <property name="RHAND_JOINT2.NumOfAABB" value="1"/>
-   <property name="RHAND_JOINT3.angle" value="0.0"/>
-   <property name="RHAND_JOINT3.mode" value="HighGain"/>
-   <property name="RHAND_JOINT3.NumOfAABB" value="1"/>
-   <property name="LARM_JOINT0.angle" value="0.010472"/>
-   <property name="LARM_JOINT0.mode" value="HighGain"/>
-   <property name="LARM_JOINT0.NumOfAABB" value="1"/>
-   <property name="LARM_JOINT1.angle" value="0.0"/>
-   <property name="LARM_JOINT1.mode" value="HighGain"/>
-   <property name="LARM_JOINT1.NumOfAABB" value="1"/>
-   <property name="LARM_JOINT2.angle" value="-1.74533"/>
-   <property name="LARM_JOINT2.mode" value="HighGain"/>
-   <property name="LARM_JOINT2.NumOfAABB" value="1"/>
-   <property name="LARM_JOINT3.angle" value="-0.26529"/>
-   <property name="LARM_JOINT3.mode" value="HighGain"/>
-   <property name="LARM_JOINT3.NumOfAABB" value="1"/>
-   <property name="LARM_JOINT4.angle" value="0.164061"/>
-   <property name="LARM_JOINT4.mode" value="HighGain"/>
-   <property name="LARM_JOINT4.NumOfAABB" value="1"/>
-   <property name="LARM_JOINT5.angle" value="-0.055851"/>
-   <property name="LARM_JOINT5.mode" value="HighGain"/>
-   <property name="LARM_JOINT5.NumOfAABB" value="1"/>
-   <property name="LHAND_JOINT0.angle" value="0.0"/>
-   <property name="LHAND_JOINT0.mode" value="HighGain"/>
-   <property name="LHAND_JOINT0.NumOfAABB" value="1"/>
-   <property name="LHAND_JOINT1.angle" value="0.0"/>
-   <property name="LHAND_JOINT1.mode" value="HighGain"/>
-   <property name="LHAND_JOINT1.NumOfAABB" value="1"/>
-   <property name="LHAND_JOINT2.angle" value="0.0"/>
-   <property name="LHAND_JOINT2.mode" value="HighGain"/>
-   <property name="LHAND_JOINT2.NumOfAABB" value="1"/>
-   <property name="LHAND_JOINT3.angle" value="0.0"/>
-   <property name="LHAND_JOINT3.mode" value="HighGain"/>
-   <property name="LHAND_JOINT3.NumOfAABB" value="1"/>
-  </item>
-  <view class="com.generalrobotix.ui.view.GrxRobotHardwareClientView" name="RobotHardware RTC Client">
-   <property name="robotHost" value="localhost"/>
-   <property name="StateHolderRTC" value="StateHolder0"/>
-   <property name="interval" value="100"/>
-   <property name="RobotHardwareServiceRTC" value="RobotHardware0"/>
-   <property name="robotPort" value="2809"/>
-   <property name="ROBOT" value="HiroNX"/>
-  </view>
-  <view class="com.generalrobotix.ui.view.Grx3DView" name="3DView">
-   <property name="view.mode" value="Room"/>
-   <property name="showCoM" value="false"/>
-   <property name="showCoMonFloor" value="false"/>
-   <property name="showDistance" value="false"/>
-   <property name="showIntersection" value="false"/>
-   <property name="eyeHomePosition" value="-0.70711 -0 0.70711 2 0.70711 -0 0.70711 2 0 1 0 0.8 0 0 0 1 "/>
-   <property name="showCollision" value="true"/>
-   <property name="showActualState" value="true"/>
-   <property name="showScale" value="true"/>
-  </view>
-  <item class="com.generalrobotix.ui.item.GrxRTSItem" name="longfloor" select="true">
-   <property name="longfloor(Robot)0.period" value="0.005"/>
-   <property name="HGcontroller0.period" value="0.005"/>
-   <property name="HGcontroller0.factory" value="HGcontroller"/>
-   <property name="connection" value="HGcontroller0.qOut:longfloor(Robot)0.qRef"/>
-   <property name="connection" value="HGcontroller0.dqOut:longfloor(Robot)0.dqRef"/>
-   <property name="connection" value="HGcontroller0.ddqOut:longfloor(Robot)0.ddqRef"/>
-  </item>
-  <item class="com.generalrobotix.ui.item.GrxModelItem" name="longfloor" url="@OPENHRP3@/share/OpenHRP-3.1/sample/model/longfloor.wrl">
-   <property name="rtcName" value="longfloor(Robot)0"/>
-   <property name="inport" value="qRef:JOINT_VALUE"/>
-   <property name="inport" value="dqRef:JOINT_VELOCITY"/>
-   <property name="inport" value="ddqRef:JOINT_ACCELERATION"/>
-   <property name="outport" value="q:JOINT_VALUE"/>
-   <property name="outport" value="tau:JOINT_TORQUE"/>
-   <property name="WAIST.NumOfAABB" value="1"/>
-   <property name="WAIST.translation" value="0  0  -1.03"/>
-   <property name="WAIST.rotation" value="1 0 0 0"/>
-  </item>
-  <view class="com.generalrobotix.ui.view.GrxRobotHardwareClientView" name="RobotHardware RTC Client">
-   <property name="robotHost" value="localhost"/>
-   <property name="StateHolderRTC" value="StateHolder0"/>
-   <property name="interval" value="100"/>
-   <property name="RobotHardwareServiceRTC" value="RobotHardware0"/>
-   <property name="robotPort" value="2809"/>
-   <property name="ROBOT" value="longfloor"/>
-  </view>
-  <view class="com.generalrobotix.ui.view.Grx3DView" name="3DView">
-   <property name="view.mode" value="Room"/>
-   <property name="showCoM" value="false"/>
-   <property name="showCoMonFloor" value="false"/>
-   <property name="showDistance" value="false"/>
-   <property name="showIntersection" value="false"/>
-   <property name="eyeHomePosition" value="-0.70711 -0 0.70711 2 0.70711 -0 0.70711 2 0 1 0 0.1 0 0 0 1 "/>
-   <property name="showCollision" value="true"/>
-   <property name="showActualState" value="true"/>
-   <property name="showScale" value="true"/>
-  </view>
-  <item class="com.generalrobotix.ui.item.GrxCollisionPairItem" name="CP#longfloor_#nextage_">
-   <property name="springConstant" value="0 0 0 0 0 0"/>
-   <property name="slidingFriction" value="0.5"/>
-   <property name="jointName2" value=""/>
-   <property name="jointName1" value=""/>
-   <property name="damperConstant" value="0 0 0 0 0 0"/>
-   <property name="objectName2" value="longfloor"/>
-   <property name="objectName1" value="nextage"/>
-   <property name="springDamperModel" value="false"/>
-   <property name="staticFriction" value="0.5"/>
-  </item>
- </mode>
-</grxui>
diff --git a/nextage_ros_bridge/conf/nextage_nosim.RobotHardware.conf.in b/nextage_ros_bridge/conf/nextage_nosim.RobotHardware.conf.in
deleted file mode 100644
index a59ccc1a..00000000
--- a/nextage_ros_bridge/conf/nextage_nosim.RobotHardware.conf.in
+++ /dev/null
@@ -1,4 +0,0 @@
-model: file://@PROJECT_SOURCE_DIR@/models/@ROBOT_NAME@.dae
-exec_cxt.periodic.type: hrpExecutionContext
-exec_cxt.periodic.rate: 200
-
diff --git a/nextage_ros_bridge/conf/nextage_nosim.conf.in b/nextage_ros_bridge/conf/nextage_nosim.conf.in
deleted file mode 100644
index d6d2f4e9..00000000
--- a/nextage_ros_bridge/conf/nextage_nosim.conf.in
+++ /dev/null
@@ -1,3 +0,0 @@
-model: file://@PROJECT_SOURCE_DIR@/models/@ROBOT_NAME@.dae
-dt: 0.005
-
diff --git a/nextage_ros_bridge/conf/nextage_nosim.xml.in b/nextage_ros_bridge/conf/nextage_nosim.xml.in
deleted file mode 100644
index 756ebec2..00000000
--- a/nextage_ros_bridge/conf/nextage_nosim.xml.in
+++ /dev/null
@@ -1,172 +0,0 @@
-<grxui>
- <mode name="Simulation">
-  <item class="com.generalrobotix.ui.item.GrxSimulationItem" name="simulationItem">
-   <property name="integrate" value="false"/>
-   <property name="timeStep" value="0.005"/>
-   <property name="totalTime" value="2000000.0"/>
-   <property name="method" value="EULER"/>
-  </item>
-  <item class="com.generalrobotix.ui.item.GrxRTSItem" name="HiroNX" select="true">
-   <property name="HiroNX(Robot)0.period" value="0.005"/>
-   <property name="HGcontroller0.period" value="0.005"/>
-   <property name="HGcontroller0.factory" value="HGcontroller"/>
-   <property name="connection" value="HGcontroller0.qOut:HiroNX(Robot)0.qRef"/>
-   <property name="connection" value="HGcontroller0.dqOut:HiroNX(Robot)0.dqRef"/>
-   <property name="connection" value="HGcontroller0.ddqOut:HiroNX(Robot)0.ddqRef"/>
-  </item>
-  <item class="com.generalrobotix.ui.item.GrxModelItem" name="nextage" url="@PROJECT_SOURCE_DIR@/models/@ROBOT_NAME@.dae">
-   <property name="rtcName" value="HiroNX(Robot)0"/>
-   <property name="inport" value="qRef:JOINT_VALUE"/>
-   <property name="inport" value="dqRef:JOINT_VELOCITY"/>
-   <property name="inport" value="ddqRef:JOINT_ACCELERATION"/>
-   <property name="outport" value="q:JOINT_VALUE"/>
-   <property name="outport" value="tau:JOINT_TORQUE"/>
-   <property name="outport" value="CAMERA_HEAD_R:CAMERA_HEAD_R:VISION_SENSOR"/>
-   <property name="outport" value="CAMERA_HEAD_L:CAMERA_HEAD_L:VISION_SENSOR"/>
-   <property name="outport" value="CAMERA_HAND_R:CAMERA_HAND_R:VISION_SENSOR"/>
-   <property name="outport" value="CAMERA_HAND_L:CAMERA_HAND_L:VISION_SENSOR"/>
-   <property name="WAIST.NumOfAABB" value="1"/>
-   <property name="WAIST.translation" value="0  0  0"/>
-   <property name="WAIST.rotation" value="1 0 0 0"/>
-   <property name="WAIST.mode" value="Torque"/>
-   <property name="controller" value="nextage_nosim"/>
-   <property name="CHEST_JOINT0.angle" value="0.0"/>
-   <property name="CHEST_JOINT0.mode" value="HighGain"/>
-   <property name="CHEST_JOINT0.NumOfAABB" value="1"/>
-   <property name="HEAD_JOINT0.angle" value="0.0"/>
-   <property name="HEAD_JOINT0.mode" value="HighGain"/>
-   <property name="HEAD_JOINT0.NumOfAABB" value="1"/>
-   <property name="HEAD_JOINT1.angle" value="0.0"/>
-   <property name="HEAD_JOINT1.mode" value="HighGain"/>
-   <property name="HEAD_JOINT1.NumOfAABB" value="1"/>
-   <property name="RARM_JOINT0.angle" value="-0.010472"/>
-   <property name="RARM_JOINT0.mode" value="HighGain"/>
-   <property name="RARM_JOINT0.NumOfAABB" value="1"/>
-   <property name="RARM_JOINT1.angle" value="0.0"/>
-   <property name="RARM_JOINT1.mode" value="HighGain"/>
-   <property name="RARM_JOINT1.NumOfAABB" value="1"/>
-   <property name="RARM_JOINT2.angle" value="-1.74533"/>
-   <property name="RARM_JOINT2.mode" value="HighGain"/>
-   <property name="RARM_JOINT2.NumOfAABB" value="1"/>
-   <property name="RARM_JOINT3.angle" value="0.26529"/>
-   <property name="RARM_JOINT3.mode" value="HighGain"/>
-   <property name="RARM_JOINT3.NumOfAABB" value="1"/>
-   <property name="RARM_JOINT4.angle" value="0.164061"/>
-   <property name="RARM_JOINT4.mode" value="HighGain"/>
-   <property name="RARM_JOINT4.NumOfAABB" value="1"/>
-   <property name="RARM_JOINT5.angle" value="0.055851"/>
-   <property name="RARM_JOINT5.mode" value="HighGain"/>
-   <property name="RARM_JOINT5.NumOfAABB" value="1"/>
-   <property name="RHAND_JOINT0.angle" value="0.0"/>
-   <property name="RHAND_JOINT0.mode" value="HighGain"/>
-   <property name="RHAND_JOINT0.NumOfAABB" value="1"/>
-   <property name="RHAND_JOINT1.angle" value="0.0"/>
-   <property name="RHAND_JOINT1.mode" value="HighGain"/>
-   <property name="RHAND_JOINT1.NumOfAABB" value="1"/>
-   <property name="RHAND_JOINT2.angle" value="0.0"/>
-   <property name="RHAND_JOINT2.mode" value="HighGain"/>
-   <property name="RHAND_JOINT2.NumOfAABB" value="1"/>
-   <property name="RHAND_JOINT3.angle" value="0.0"/>
-   <property name="RHAND_JOINT3.mode" value="HighGain"/>
-   <property name="RHAND_JOINT3.NumOfAABB" value="1"/>
-   <property name="LARM_JOINT0.angle" value="0.010472"/>
-   <property name="LARM_JOINT0.mode" value="HighGain"/>
-   <property name="LARM_JOINT0.NumOfAABB" value="1"/>
-   <property name="LARM_JOINT1.angle" value="0.0"/>
-   <property name="LARM_JOINT1.mode" value="HighGain"/>
-   <property name="LARM_JOINT1.NumOfAABB" value="1"/>
-   <property name="LARM_JOINT2.angle" value="-1.74533"/>
-   <property name="LARM_JOINT2.mode" value="HighGain"/>
-   <property name="LARM_JOINT2.NumOfAABB" value="1"/>
-   <property name="LARM_JOINT3.angle" value="-0.26529"/>
-   <property name="LARM_JOINT3.mode" value="HighGain"/>
-   <property name="LARM_JOINT3.NumOfAABB" value="1"/>
-   <property name="LARM_JOINT4.angle" value="0.164061"/>
-   <property name="LARM_JOINT4.mode" value="HighGain"/>
-   <property name="LARM_JOINT4.NumOfAABB" value="1"/>
-   <property name="LARM_JOINT5.angle" value="-0.055851"/>
-   <property name="LARM_JOINT5.mode" value="HighGain"/>
-   <property name="LARM_JOINT5.NumOfAABB" value="1"/>
-   <property name="LHAND_JOINT0.angle" value="0.0"/>
-   <property name="LHAND_JOINT0.mode" value="HighGain"/>
-   <property name="LHAND_JOINT0.NumOfAABB" value="1"/>
-   <property name="LHAND_JOINT1.angle" value="0.0"/>
-   <property name="LHAND_JOINT1.mode" value="HighGain"/>
-   <property name="LHAND_JOINT1.NumOfAABB" value="1"/>
-   <property name="LHAND_JOINT2.angle" value="0.0"/>
-   <property name="LHAND_JOINT2.mode" value="HighGain"/>
-   <property name="LHAND_JOINT2.NumOfAABB" value="1"/>
-   <property name="LHAND_JOINT3.angle" value="0.0"/>
-   <property name="LHAND_JOINT3.mode" value="HighGain"/>
-   <property name="LHAND_JOINT3.NumOfAABB" value="1"/>
-  </item>
-  <view class="com.generalrobotix.ui.view.GrxRobotHardwareClientView" name="RobotHardware RTC Client">
-   <property name="robotHost" value="localhost"/>
-   <property name="StateHolderRTC" value="StateHolder0"/>
-   <property name="interval" value="100"/>
-   <property name="RobotHardwareServiceRTC" value="RobotHardware0"/>
-   <property name="robotPort" value="2809"/>
-   <property name="ROBOT" value="HiroNX"/>
-  </view>
-  <view class="com.generalrobotix.ui.view.Grx3DView" name="3DView">
-   <property name="view.mode" value="Room"/>
-   <property name="showCoM" value="false"/>
-   <property name="showCoMonFloor" value="false"/>
-   <property name="showDistance" value="false"/>
-   <property name="showIntersection" value="false"/>
-   <property name="eyeHomePosition" value="-0.70711 -0 0.70711 2 0.70711 -0 0.70711 2 0 1 0 0.8 0 0 0 1 "/>
-   <property name="showCollision" value="true"/>
-   <property name="showActualState" value="true"/>
-   <property name="showScale" value="true"/>
-  </view>
-  <item class="com.generalrobotix.ui.item.GrxRTSItem" name="longfloor" select="true">
-   <property name="longfloor(Robot)0.period" value="0.005"/>
-   <property name="HGcontroller0.period" value="0.005"/>
-   <property name="HGcontroller0.factory" value="HGcontroller"/>
-   <property name="connection" value="HGcontroller0.qOut:longfloor(Robot)0.qRef"/>
-   <property name="connection" value="HGcontroller0.dqOut:longfloor(Robot)0.dqRef"/>
-   <property name="connection" value="HGcontroller0.ddqOut:longfloor(Robot)0.ddqRef"/>
-  </item>
-  <item class="com.generalrobotix.ui.item.GrxModelItem" name="longfloor" url="@OPENHRP3@/share/OpenHRP-3.1/sample/model/longfloor.wrl">
-   <property name="rtcName" value="longfloor(Robot)0"/>
-   <property name="inport" value="qRef:JOINT_VALUE"/>
-   <property name="inport" value="dqRef:JOINT_VELOCITY"/>
-   <property name="inport" value="ddqRef:JOINT_ACCELERATION"/>
-   <property name="outport" value="q:JOINT_VALUE"/>
-   <property name="outport" value="tau:JOINT_TORQUE"/>
-   <property name="WAIST.NumOfAABB" value="1"/>
-   <property name="WAIST.translation" value="0  0  -1.03"/> <!-- 0.97 + 0.05 + 0.01 -->
-   <property name="WAIST.rotation" value="1 0 0 0"/>
-  </item>
-  <view class="com.generalrobotix.ui.view.GrxRobotHardwareClientView" name="RobotHardware RTC Client">
-   <property name="robotHost" value="localhost"/>
-   <property name="StateHolderRTC" value="StateHolder0"/>
-   <property name="interval" value="100"/>
-   <property name="RobotHardwareServiceRTC" value="RobotHardware0"/>
-   <property name="robotPort" value="2809"/>
-   <property name="ROBOT" value="longfloor"/>
-  </view>
-  <view class="com.generalrobotix.ui.view.Grx3DView" name="3DView">
-   <property name="view.mode" value="Room"/>
-   <property name="showCoM" value="false"/>
-   <property name="showCoMonFloor" value="false"/>
-   <property name="showDistance" value="false"/>
-   <property name="showIntersection" value="false"/>
-   <property name="eyeHomePosition" value="-0.70711 -0 0.70711 2 0.70711 -0 0.70711 2 0 1 0 0.1 0 0 0 1 "/>
-   <property name="showCollision" value="true"/>
-   <property name="showActualState" value="true"/>
-   <property name="showScale" value="true"/>
-  </view>
-  <item class="com.generalrobotix.ui.item.GrxCollisionPairItem" name="CP#longfloor_#nextage_">
-   <property name="springConstant" value="0 0 0 0 0 0"/>
-   <property name="slidingFriction" value="0.5"/>
-   <property name="jointName2" value=""/>
-   <property name="jointName1" value=""/>
-   <property name="damperConstant" value="0 0 0 0 0 0"/>
-   <property name="objectName2" value="longfloor"/>
-   <property name="objectName1" value="nextage"/>
-   <property name="springDamperModel" value="false"/>
-   <property name="staticFriction" value="0.5"/>
-  </item>
- </mode>
-</grxui>
diff --git a/nextage_ros_bridge/test/nxo.test b/nextage_ros_bridge/test/nxo.test
index 220580c2..691d3f19 100644
--- a/nextage_ros_bridge/test/nxo.test
+++ b/nextage_ros_bridge/test/nxo.test
@@ -21,5 +21,4 @@
         time-limit="1000" args="$(arg ROBOTCLIENT_ARG_OLDSTYLE)" />
   <test type="test_airhand.py" pkg="nextage_ros_bridge" test-name="test_nxo_airhand"
         time-limit="1000" args="$(arg ROBOTCLIENT_ARG_OLDSTYLE)" />
-         
 </launch>
diff --git a/nextage_ros_bridge/test/nxo_rosbridge.test b/nextage_ros_bridge/test/nxo_rosbridge.test
new file mode 100644
index 00000000..ed96305c
--- /dev/null
+++ b/nextage_ros_bridge/test/nxo_rosbridge.test
@@ -0,0 +1,19 @@
+<launch>
+  <arg name="CORBA_PORT" default="2809" />
+
+  <include file="$(find nextage_ros_bridge)/test/test_nextage_ros_bridge_common.launch">
+    <arg name="corbaport" value="$(arg CORBA_PORT)" />
+    <arg name="GUI" value="false" />
+  </include>
+
+  <!-- Test if hand camera topic published on sim. -->
+  <arg name='TESTNAME_HANDCAM_L' value='hz_handcamera_l' />
+  <test pkg="rostest" type="hztest" test-name="$(arg TESTNAME_HANDCAM_L)"
+        name="$(arg TESTNAME_HANDCAM_L)" time-limit="30o" retry="3" >
+    <param name="topic" value="/hand_left/image_raw" />
+    <param name="hz" value="15.0" />
+    <param name="hzerror" value="5.0" />
+    <param name="test_duration" value="5.0" />
+    <param name="wait_time" value="20.0" />
+  </test>
+</launch>
diff --git a/nextage_ros_bridge/test/test_nextage_ros_bridge_common.launch b/nextage_ros_bridge/test/test_nextage_ros_bridge_common.launch
new file mode 100644
index 00000000..3956cfe2
--- /dev/null
+++ b/nextage_ros_bridge/test/test_nextage_ros_bridge_common.launch
@@ -0,0 +1,18 @@
+<launch>
+  <!-- TODO In the future this launch file can be removed as long as we
+       modify hironx_ros_bridge)/test/test-hironx-ros-bridge-common.launch so
+       that it accepts nextage_ros_bridge_simulation.launch as an arg.
+   -->
+
+  <arg name="corbaport" default="2809" />
+  <arg name="GUI" default="false" />
+  
+  <!-- See https://github.com/start-jsk/rtmros_common/issues/416#issuecomment-46846623 -->
+  <node pkg="rtmbuild" type="start_omninames.sh" args="$(arg corbaport)"
+        name="start_omninames"  />
+  
+  <include file="$(find nextage_ros_bridge)/launch/nextage_ros_bridge_simulation.launch" >
+    <arg name="GUI" value="$(arg GUI)" />
+    <arg name="corbaport" value="$(arg corbaport)" />
+  </include>
+</launch>
\ No newline at end of file