diff --git a/jsk_footstep_planner/euslisp/footstep_planner_util.l b/jsk_footstep_planner/euslisp/footstep_planner_util.l
index 6e2f2696c..332e3aa3d 100644
--- a/jsk_footstep_planner/euslisp/footstep_planner_util.l
+++ b/jsk_footstep_planner/euslisp/footstep_planner_util.l
@@ -82,7 +82,7 @@
 (defun face-on-faces (f support-faces)
   (if *use-env-server*
       (progn
-        (let ((req (instance jsk_pcl_ros::PolygonOnEnvironmentRequest :init)))
+        (let ((req (instance jsk_recognition_msgs::PolygonOnEnvironmentRequest :init)))
           ;;(send req :environment_id *env-id*)
           (send req :environment_id 0)
           ;; build polygon samped
diff --git a/jsk_footstep_planner/euslisp/robot-model-util.l b/jsk_footstep_planner/euslisp/robot-model-util.l
index 6425fa051..b151ddea9 100644
--- a/jsk_footstep_planner/euslisp/robot-model-util.l
+++ b/jsk_footstep_planner/euslisp/robot-model-util.l
@@ -42,7 +42,7 @@
       msg))
   (:snap-footsteps (foot-coords &key
                                 (service "/locomotion/snapit/align_footstep"))
-    (let ((req (instance jsk_pcl_ros::SnapFootstepRequest :init)))
+    (let ((req (instance jsk_recognition_msgs::SnapFootstepRequest :init)))
       (send req :input (send self :footstep-to-rosmsg foot-coords))
       (let ((res (ros::service-call service req t)))
         (if res