diff --git a/jsk_unitree_robot/cross/build_ros1.sh b/jsk_unitree_robot/cross/build_ros1.sh
index 80e53036ba..faad1b0822 100755
--- a/jsk_unitree_robot/cross/build_ros1.sh
+++ b/jsk_unitree_robot/cross/build_ros1.sh
@@ -32,6 +32,7 @@ mkdir -p ${SOURCE_ROOT}/src
 mkdir -p ${HOST_INSTALL_ROOT}/ros1_inst
 
 if [ ${UPDATE_SOURCE_ROOT} -eq 1 ]; then
+    vcs import --force --retry 10 --shallow ${SOURCE_ROOT}/src < repos/catkin_virtualenv.repos
     vcs import --force --retry 10 --shallow ${SOURCE_ROOT}/src < repos/roseus_no_window.repos
     for dir in euslisp jskeus; do ls ${SOURCE_ROOT}/src/$dir/patches/; rsync -avz ${SOURCE_ROOT}/src/$dir/patches/ ${SOURCE_ROOT}/src/$dir; done
     # linux can use sed -i'.bak' and latest mac also supports same syntax.
diff --git a/jsk_unitree_robot/cross/repos/catkin_virtualenv.repos b/jsk_unitree_robot/cross/repos/catkin_virtualenv.repos
new file mode 100644
index 0000000000..1352315ced
--- /dev/null
+++ b/jsk_unitree_robot/cross/repos/catkin_virtualenv.repos
@@ -0,0 +1,18 @@
+repositories:
+  catkin_virtualenv:
+    type: git
+    url: https://github.com/locusrobotics/catkin_virtualenv
+    version: 0.9.0
+    #
+    # 0.9.0 contains following two patches, but not release on ROS1
+    # catkin_virtualenv depends on python3-rospkg-modules (and others). It is installed in build_ros1_dependencies.sh
+    #
+    # At current, if we do a catkin build with CATKIN_ENABLE_TESTING=FALSE,
+    # we get the error 'Unknown CMake command "catkin_run_tests_target"'
+    # when calling catkin_generate_virtualenv. The following PR fixes this error.
+    # https://github.com/locusrobotics/catkin_virtualenv/pull/89
+    #
+    # Some python environments may not have ensurepip installed.
+    # Also, some users may not be able to use sudo apt install to install python3-venv (sudo command), etc.
+    # The following PR will enable catkin_virtualenv in environments without ensurepip by doing get-pip.py within venv.
+    # https://github.com/locusrobotics/catkin_virtualenv/pull/90
diff --git a/jsk_unitree_robot/cross/repos/ros1_dependencies.repos b/jsk_unitree_robot/cross/repos/ros1_dependencies.repos
index d69c626402..749dd317ee 100644
--- a/jsk_unitree_robot/cross/repos/ros1_dependencies.repos
+++ b/jsk_unitree_robot/cross/repos/ros1_dependencies.repos
@@ -262,3 +262,21 @@ repositories:
     type: tar
     url: http://archive.ubuntu.com/ubuntu/pool/universe/libc/libccd/libccd_2.0-1.debian.tar.xz
     # fcl depends on ccd
+  python3-pyparsing:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/main/p/pyparsing/pyparsing_2.2.0+dfsg1.orig.tar.gz
+  python3-pyparsing/debian:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/main/p/pyparsing/pyparsing_2.2.0+dfsg1-2.debian.tar.xz
+  python3-catkin-pkg-modules:
+    type: tar
+    url: http://packages.ros.org/ros/ubuntu/pool/main/p/python3-catkin-pkg-modules/python3-catkin-pkg-modules_0.5.2.orig.tar.gz
+  python3-catkin-pkg-modules/debian:
+    type: tar
+    url: http://packages.ros.org/ros/ubuntu/pool/main/p/python3-catkin-pkg-modules/python3-catkin-pkg-modules_0.5.2-1.debian.tar.xz
+  python3-rospkg-modules:
+    type: tar
+    url: http://packages.ros.org/ros/ubuntu/pool/main/p/python3-rospkg-modules/python3-rospkg-modules_1.5.0.orig.tar.gz
+  python3-rospkg-modules/debian:
+    type: tar
+    url: http://packages.ros.org/ros/ubuntu/pool/main/p/python3-rospkg-modules/python3-rospkg-modules_1.5.0-1.debian.tar.xz
diff --git a/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1045-python3-pyparsing b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1045-python3-pyparsing
new file mode 100755
index 0000000000..6ab82d8494
--- /dev/null
+++ b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1045-python3-pyparsing
@@ -0,0 +1,21 @@
+#!/bin/bash
+set -xeuf -o pipefail
+
+DEBIAN_DIR=/home/user/ros1_dependencies_sources/src/python3-pyparsing/debian/debian
+SOURCE_DIR=/home/user/ros1_dependencies_sources/src/python3-pyparsing/pyparsing-2.2.0+dfsg1
+
+# cd ${DEBIAN_DIR}/patches
+# for patch_file in $(grep -v ^# series); do
+#     OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false) || echo "OK"
+# done
+
+cd ${SOURCE_DIR}
+
+mkdir -p /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python3.6/site-packages/
+SKIP_PYTHON_SCRIPTS=1 \
+PYTHONPATH="/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python3.6/site-packages" \
+          python3 \
+          setup.py install \
+	  --force --root=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies \
+	  --no-compile -O0 --single-version-externally-managed --prefix=./
+#          --prefix /opt/jsk/${INSTALL_ROOT}/ros1_dependencies
diff --git a/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1046-python3-catkin-pkg-modules b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1046-python3-catkin-pkg-modules
new file mode 100755
index 0000000000..da470da7cd
--- /dev/null
+++ b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1046-python3-catkin-pkg-modules
@@ -0,0 +1,21 @@
+#!/bin/bash
+set -xeuf -o pipefail
+
+DEBIAN_DIR=/home/user/ros1_dependencies_sources/src/python3-catkin-pkg-modules/debian/debian
+SOURCE_DIR=/home/user/ros1_dependencies_sources/src/python3-catkin-pkg-modules/catkin_pkg_modules-0.5.2
+
+# cd ${DEBIAN_DIR}/patches
+# for patch_file in $(grep -v ^# series); do
+#     OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false) || echo "OK"
+# done
+
+cd ${SOURCE_DIR}
+
+mkdir -p /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python3.6/site-packages/
+SKIP_PYTHON_SCRIPTS=1 \
+PYTHONPATH="/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python3.6/site-packages" \
+          python3 \
+          setup.py install \
+	  --force --root=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies \
+	  --no-compile -O0 --single-version-externally-managed --prefix=./
+#          --prefix /opt/jsk/${INSTALL_ROOT}/ros1_dependencies
diff --git a/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1047-python3-rospkg-modules b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1047-python3-rospkg-modules
new file mode 100755
index 0000000000..8af6e48c05
--- /dev/null
+++ b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1047-python3-rospkg-modules
@@ -0,0 +1,21 @@
+#!/bin/bash
+set -xeuf -o pipefail
+
+DEBIAN_DIR=/home/user/ros1_dependencies_sources/src/python3-rospkg-modules/debian/debian
+SOURCE_DIR=/home/user/ros1_dependencies_sources/src/python3-rospkg-modules/rospkg_modules-1.5.0
+
+# cd ${DEBIAN_DIR}/patches
+# for patch_file in $(grep -v ^# series); do
+#     OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false) || echo "OK"
+# done
+
+cd ${SOURCE_DIR}
+
+mkdir -p /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python3.6/site-packages/
+SKIP_PYTHON_SCRIPTS=1 \
+PYTHONPATH="/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python3.6/site-packages" \
+          python3 \
+          setup.py install \
+	  --force --root=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies \
+	  --no-compile -O0 --single-version-externally-managed --prefix=./
+#          --prefix /opt/jsk/${INSTALL_ROOT}/ros1_dependencies \