diff --git a/jsk_kinova_robot/README.md b/jsk_kinova_robot/README.md
index 078252f382..38495136d8 100644
--- a/jsk_kinova_robot/README.md
+++ b/jsk_kinova_robot/README.md
@@ -54,7 +54,7 @@ You need to install `conan` (Decentralized, open-source (MIT), C/C++ package man
 
 ```bash
 sudo apt install python3 python3-pip
-python3 -m pip install --user conan
+python3 -m pip install --user 'conan<2'
 conan config set general.revisions_enabled=1
 conan profile new default --detect > /dev/null
 conan profile update settings.compiler.libcxx=libstdc++11 default
@@ -65,13 +65,15 @@ conan profile update settings.compiler.libcxx=libstdc++11 default
 Use `wstool`, `rosdep` and `catkin` to checkout and compile the source tree.
 
 ```bash
+source /opt/ros/*/setup.bash
 mkdir -p ~/kinova_ws/src
 cd ~/kinova_ws/src
 wstool init
 wstool merge https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_kinova_robot/kinova.rosinstall
+wstool merge https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_kinova_robot/kinova.rosinstall.${ROS_DISTRO} # Please ignore error if kinova.rosinstall.${ROS_DISTRO} does not exist. # We can remove this line after the https://github.com/ros/collada_urdf/pull/44 is merged
 wstool update
 cd ../
-source /opt/ros/melodic/setup.bash
+source /opt/ros/${ROS_DISTRO}/setup.bash
 rosdep install -y -r --from-paths src --ignore-src
 catkin build jsk_kinova_startup kinovaeus
 source devel/setup.bash
diff --git a/jsk_kinova_robot/kinova.rosinstall.noetic b/jsk_kinova_robot/kinova.rosinstall.noetic
new file mode 100644
index 0000000000..8f488287fc
--- /dev/null
+++ b/jsk_kinova_robot/kinova.rosinstall.noetic
@@ -0,0 +1,12 @@
+# Current collada_urdf cannot be built on noetic # We can remove this line after the https://github.com/ros/collada_urdf/pull/44 is merged
+# https://github.com/ros/collada_urdf/pull/44
+- git:
+    local-name: collada_urdf
+    uri: https://github.com/werner291/collada_urdf.git
+    version: patch-1
+# jsk_model_tools has to be built with patched collada_urdf # We can remove this line after the https://github.com/ros/collada_urdf/pull/44 is merged
+# https://github.com/jsk-ros-pkg/jsk_model_tools/pull/254
+- git:
+    local-name: jsk-ros-pkg/jsk_model_tools
+    uri: https://github.com/Takuma-Hiraoka/jsk_model_tools.git
+    version: fix_for_python3-python2_compatible