diff --git a/yocs_diff_drive_pose_controller/CMakeLists.txt b/yocs_diff_drive_pose_controller/CMakeLists.txt
index c87453ef..2524411e 100644
--- a/yocs_diff_drive_pose_controller/CMakeLists.txt
+++ b/yocs_diff_drive_pose_controller/CMakeLists.txt
@@ -4,7 +4,6 @@ project(yocs_diff_drive_pose_controller)
 find_package(catkin REQUIRED COMPONENTS ecl_threads
                                         dynamic_reconfigure
                                         geometry_msgs
-                                        gopher_navi_msgs
                                         nodelet
                                         pluginlib
                                         roscpp
@@ -13,6 +12,7 @@ find_package(catkin REQUIRED COMPONENTS ecl_threads
                                         tf
                                         yocs_controllers
                                         yocs_math_toolkit
+                                        yocs_msgs
             )
 
 catkin_package(INCLUDE_DIRS include
@@ -20,7 +20,6 @@ catkin_package(INCLUDE_DIRS include
                CATKIN_DEPENDS ecl_threads
                               dynamic_reconfigure
                               geometry_msgs
-                              gopher_navi_msgs
                               nodelet
                               pluginlib
                               roscpp
@@ -29,6 +28,7 @@ catkin_package(INCLUDE_DIRS include
                               tf
                               yocs_controllers
                               yocs_math_toolkit
+                              yocs_msgs
               )
 
 include_directories(include ${catkin_INCLUDE_DIRS})
diff --git a/yocs_diff_drive_pose_controller/include/yocs_diff_drive_pose_controller/diff_drive_pose_controller_ros.hpp b/yocs_diff_drive_pose_controller/include/yocs_diff_drive_pose_controller/diff_drive_pose_controller_ros.hpp
index c41d3063..7d17c84d 100644
--- a/yocs_diff_drive_pose_controller/include/yocs_diff_drive_pose_controller/diff_drive_pose_controller_ros.hpp
+++ b/yocs_diff_drive_pose_controller/include/yocs_diff_drive_pose_controller/diff_drive_pose_controller_ros.hpp
@@ -44,10 +44,8 @@
 #include <std_msgs/String.h>
 #include <tf/transform_listener.h>
 #include <boost/shared_ptr.hpp>
-#include <gopher_navi_msgs/PoseControllerConfig.h>
-#include <gopher_navi_msgs/GopherNaviConfig.h>
 #include <dynamic_reconfigure/server.h>
-
+#include <yocs_msgs/PoseControllerConfig.h>
 
 #include "yocs_diff_drive_pose_controller/diff_drive_pose_controller.hpp"
 
@@ -138,7 +136,7 @@ class DiffDrivePoseControllerROS : public DiffDrivePoseController
    */
   void disableCB(const std_msgs::EmptyConstPtr msg);
 
-  void reconfigCB(gopher_navi_msgs::PoseControllerConfig &config, uint32_t level);
+  void reconfigCB(yocs_msgs::PoseControllerConfig &config, uint32_t level);
 
   // basics
   ros::NodeHandle nh_;
@@ -166,10 +164,12 @@ class DiffDrivePoseControllerROS : public DiffDrivePoseController
   std::string goal_frame_name_;
 
   ///dynamic reconfigure server
-  boost::shared_ptr<dynamic_reconfigure::Server<gopher_navi_msgs::PoseControllerConfig> > reconfig_server_;
+  boost::shared_ptr<dynamic_reconfigure::Server<yocs_msgs::PoseControllerConfig> > reconfig_server_;
 
   ///dynamic reconfigure server callback type
-  dynamic_reconfigure::Server<gopher_navi_msgs::PoseControllerConfig>::CallbackType reconfig_callback_func_;
+  dynamic_reconfigure::Server<yocs_msgs::PoseControllerConfig>::CallbackType reconfig_callback_func_;
+
+  yocs_msgs::PoseControllerConfig test_;
 
   ecl::Mutex dynamic_reconfig_mutex_;
 
diff --git a/yocs_diff_drive_pose_controller/package.xml b/yocs_diff_drive_pose_controller/package.xml
index 182ee2c7..2d678b15 100644
--- a/yocs_diff_drive_pose_controller/package.xml
+++ b/yocs_diff_drive_pose_controller/package.xml
@@ -18,7 +18,6 @@
   <build_depend>ecl_threads</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>geometry_msgs</build_depend>
-  <build_depend>gopher_navi_msgs</build_depend>
   <build_depend>nodelet</build_depend>
   <build_depend>pluginlib</build_depend>
   <build_depend>roscpp</build_depend>
@@ -27,11 +26,12 @@
   <build_depend>tf</build_depend>
   <build_depend>yocs_controllers</build_depend>
   <build_depend>yocs_math_toolkit</build_depend>
+  <build_depend>yocs_msgs</build_depend>
+
 
   <run_depend>ecl_threads</run_depend>
   <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>geometry_msgs</run_depend>
-  <run_depend>gopher_navi_msgs</run_depend>
   <run_depend>nodelet</run_depend>
   <run_depend>pluginlib</run_depend>
   <run_depend>roscpp</run_depend>
@@ -40,6 +40,7 @@
   <run_depend>tf</run_depend>
   <run_depend>yocs_controllers</run_depend>
   <run_depend>yocs_math_toolkit</run_depend>
+  <run_depend>yocs_msgs</run_depend>
 
   <export>
     <nodelet plugin="${prefix}/plugins/nodelets.xml"/>
diff --git a/yocs_diff_drive_pose_controller/src/diff_drive_pose_controller_ros.cpp b/yocs_diff_drive_pose_controller/src/diff_drive_pose_controller_ros.cpp
index 7c1087b8..50394912 100644
--- a/yocs_diff_drive_pose_controller/src/diff_drive_pose_controller_ros.cpp
+++ b/yocs_diff_drive_pose_controller/src/diff_drive_pose_controller_ros.cpp
@@ -134,8 +134,8 @@ bool DiffDrivePoseControllerROS::init()
   ROS_DEBUG_STREAM(
       "v_max = " << v_max_ <<", k_1 = " << k_1_ << ", k_2 = " << k_2_ << ", beta = " << beta_ << ", lambda = " << lambda_ << ", dist_thres = " << dist_thres_ << ", orient_thres = " << orient_thres_ <<" [" << name_ <<"]");
 
-  reconfig_server_ = boost::shared_ptr<dynamic_reconfigure::Server<gopher_navi_msgs::PoseControllerConfig> >(
-                               new dynamic_reconfigure::Server<gopher_navi_msgs::PoseControllerConfig>(nh_));
+  reconfig_server_ = boost::shared_ptr<dynamic_reconfigure::Server<yocs_msgs::PoseControllerConfig> >(
+                               new dynamic_reconfigure::Server<yocs_msgs::PoseControllerConfig>(nh_));
   reconfig_callback_func_ = boost::bind(&DiffDrivePoseControllerROS::reconfigCB, this, _1, _2);
   reconfig_server_->setCallback(reconfig_callback_func_);
 
@@ -254,7 +254,7 @@ void DiffDrivePoseControllerROS::disableCB(const std_msgs::EmptyConstPtr msg)
   }
 }
 
-void DiffDrivePoseControllerROS::reconfigCB(gopher_navi_msgs::PoseControllerConfig &config, uint32_t level)
+void DiffDrivePoseControllerROS::reconfigCB(yocs_msgs::PoseControllerConfig &config, uint32_t level)
 {
   dynamic_reconfig_mutex_.lock();
   v_min_movement_ = config.v_min;