diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
index 7d7abc3bb0..23068dd847 100644
--- a/.github/workflows/config.yml
+++ b/.github/workflows/config.yml
@@ -14,11 +14,11 @@ jobs:
       matrix:
         include:
           - ROS_DISTRO: indigo
-            USE_DEB: true
+            USE_DEB: false
             NOT_TEST_INSTALL : true
             USE_JENKINS: true
             DOCKER_IMAGE_JENKINS: ros-ubuntu:14.04-pcl
-            BEFORE_SCRIPT : "sudo pip install numpy==1.16.6; sudo pip install scikit-learn==0.19.1 scipy==1.2.3; sudo pip install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==6.7.0 protobuf==3.18.0 cupy-cuda91; sudo pip install requests[socks]==2.25.1"
+            BEFORE_SCRIPT : "sudo pip install packaging==17.1; sudo pip install numpy==1.16.6; sudo pip install scikit-learn==0.19.1 scipy==1.2.3; sudo pip install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==6.7.0 protobuf==3.18.0 cupy-cuda91; sudo pip install requests[socks]==2.25.1 gdown==3.4.3"
             experimental : false
           - ROS_DISTRO: kinetic
             USE_DEB: true
diff --git a/.travis.rosinstall.indigo b/.travis.rosinstall.indigo
new file mode 100644
index 0000000000..2d49cc3b27
--- /dev/null
+++ b/.travis.rosinstall.indigo
@@ -0,0 +1,8 @@
+# we need to install catkin_virtualenv 0.2.2
+# https://github.com/locusrobotics/catkin_virtualenv/pull/32
+# we need to avoid pip upgrade
+# see https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/419 for more info
+- git:
+    local-name: locusrobotics/catkin_virtualenv
+    uri: https://github.com/locusrobotics/catkin_virtualenv
+    version: 0.2.2
diff --git a/jsk_perception/.gitignore b/jsk_perception/.gitignore
index 8b7dd14ac2..80b6943bf3 100644
--- a/jsk_perception/.gitignore
+++ b/jsk_perception/.gitignore
@@ -3,4 +3,5 @@ launch/eusmodel_detection_elevator-panels-eng8.launch
 template/*png
 template/*xml
 sample/milktea-box.launch
-sample/rimokon-pose.launch
\ No newline at end of file
+sample/rimokon-pose.launch
+requirements.txt
diff --git a/jsk_perception/CMakeLists.txt b/jsk_perception/CMakeLists.txt
index 0caed5f566..44e6f3a8f8 100644
--- a/jsk_perception/CMakeLists.txt
+++ b/jsk_perception/CMakeLists.txt
@@ -16,6 +16,7 @@ endif()
 
 find_package(catkin REQUIRED COMPONENTS
   angles
+  catkin_virtualenv
   cmake_modules
   cv_bridge
   dynamic_reconfigure
@@ -183,6 +184,24 @@ catkin_package(
   LIBRARIES ${PROJECT_NAME} oriented_gradient
 )
 
+if("$ENV{ROS_DISTRO}" STREQUAL "indigo")
+  message(WARNING "following requirements.txt syntax is not support on 14.04")
+  message(WARNING "pytesseract==0.3.6        # via -r requirements.in")
+  message(WARNING "so we intentionally use requirements.txt")
+  message(WARNING "To use this program, we need to run")
+  message(WARNING "sed -i 's/upgrade_pip=True/upgrade_pip=False/' /opt/ros/indigo/share/catkin_virtualenv/cmake/build_venv.py")
+  message(WARNING "to prevent upgrading to latest pip, which is not Python2 compatible")
+  file(COPY requirements.txt.indigo DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
+  file(RENAME ${CMAKE_CURRENT_BINARY_DIR}/requirements.txt.indigo requirements.txt)
+  catkin_generate_virtualenv(PYTHON_INTERPRETER python2)
+else()
+  catkin_generate_virtualenv(
+    INPUT_REQUIREMENTS requirements.in
+    PYTHON_INTERPRETER "python$ENV{ROS_PYTHON_VERSION}"
+    USE_SYSTEM_PACKAGES TRUE
+    ISOLATE_REQUIREMENTS FALSE
+    CHECK_VENV FALSE)
+endif()
 
 # ------------------------------------------------------------------------------------
 # Build
@@ -424,12 +443,10 @@ install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
 
-if($ENV{ROS_DISTRO} STREQUAL "indigo") # on noetic it needs catkin_install_python to support Python3 and it does not work on indigo for some reason...
-install(DIRECTORY scripts node_scripts
-   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-   USE_SOURCE_PERMISSIONS
-   )
-else()
+install(PROGRAMS scripts/setup_opencv_learning_data.sh
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts/
+)
+
 install(DIRECTORY scripts node_scripts
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS
@@ -444,9 +461,12 @@ catkin_install_python(
 )
 file(GLOB NODE_SCRIPT_PROGRAMS node_scripts/*.py)
 catkin_install_python(
-  PROGRAMS ${NODE_SCRIPT_PROGRAMS}
+  PROGRAMS ${NODE_SCRIPT_PROGRAMS} node_scripts/apply_context_to_label_probability
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/node_scripts
 )
+install(FILES requirements.txt
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
 if(CATKIN_DEVEL_PREFIX)
   add_custom_target(link_dir_mkdir
     COMMAND ${CMAKE_COMMAND} -E make_directory ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/node_scripts)
@@ -456,7 +476,6 @@ if(CATKIN_DEVEL_PREFIX)
     add_dependencies(link_dir_${SUB_DIR} link_dir_mkdir)
   endforeach()
 endif(CATKIN_DEVEL_PREFIX)
-endif()
 
 # ------------------------------------------------------------------------------------
 # Test
diff --git a/jsk_perception/node_scripts/alexnet_object_recognition.py b/jsk_perception/node_scripts/alexnet_object_recognition.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/apply_context_to_label_probability b/jsk_perception/node_scripts/apply_context_to_label_probability
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/aws_auto_checkin_app.py b/jsk_perception/node_scripts/aws_auto_checkin_app.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/aws_detect_faces.py b/jsk_perception/node_scripts/aws_detect_faces.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/binpack_rect_array.py b/jsk_perception/node_scripts/binpack_rect_array.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/bof_histogram_extractor.py b/jsk_perception/node_scripts/bof_histogram_extractor.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/craft_node.py b/jsk_perception/node_scripts/craft_node.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/deep_sort_tracker_node.py b/jsk_perception/node_scripts/deep_sort_tracker_node.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/depth_image_filter.py b/jsk_perception/node_scripts/depth_image_filter.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/draw_classification_result.py b/jsk_perception/node_scripts/draw_classification_result.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/draw_rects.py b/jsk_perception/node_scripts/draw_rects.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/extract_image_channel.py b/jsk_perception/node_scripts/extract_image_channel.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/face_pose_estimation.py b/jsk_perception/node_scripts/face_pose_estimation.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/fast_rcnn.py b/jsk_perception/node_scripts/fast_rcnn.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/fcn_depth_prediction.py b/jsk_perception/node_scripts/fcn_depth_prediction.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/fcn_object_segmentation.py b/jsk_perception/node_scripts/fcn_object_segmentation.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/fisheye_ray.py b/jsk_perception/node_scripts/fisheye_ray.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/hand_pose_estimation_2d.py b/jsk_perception/node_scripts/hand_pose_estimation_2d.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/human_mesh_recovery.py b/jsk_perception/node_scripts/human_mesh_recovery.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/image_cluster_indices_decomposer.py b/jsk_perception/node_scripts/image_cluster_indices_decomposer.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/image_publisher.py b/jsk_perception/node_scripts/image_publisher.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/image_time_diff.py b/jsk_perception/node_scripts/image_time_diff.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/image_to_label.py b/jsk_perception/node_scripts/image_to_label.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/label_image_classifier.py b/jsk_perception/node_scripts/label_image_classifier.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/label_image_decomposer.py b/jsk_perception/node_scripts/label_image_decomposer.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/mask_image_to_label.py b/jsk_perception/node_scripts/mask_image_to_label.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/mask_rcnn_instance_segmentation.py b/jsk_perception/node_scripts/mask_rcnn_instance_segmentation.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/matchtemplate.py b/jsk_perception/node_scripts/matchtemplate.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/non_maximum_suppression.py b/jsk_perception/node_scripts/non_maximum_suppression.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/ocr_node.py b/jsk_perception/node_scripts/ocr_node.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/paper_finder.py b/jsk_perception/node_scripts/paper_finder.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/people_mask_publisher.py b/jsk_perception/node_scripts/people_mask_publisher.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/people_pose_estimation_2d.py b/jsk_perception/node_scripts/people_pose_estimation_2d.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/pointit.py b/jsk_perception/node_scripts/pointit.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/probability_image_classifier.py b/jsk_perception/node_scripts/probability_image_classifier.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/random_forest_server.py b/jsk_perception/node_scripts/random_forest_server.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/rect_array_in_panorama_to_bounding_box_array.py b/jsk_perception/node_scripts/rect_array_in_panorama_to_bounding_box_array.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/rect_array_to_image_marker.py b/jsk_perception/node_scripts/rect_array_to_image_marker.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/regional_feature_based_object_recognition.py b/jsk_perception/node_scripts/regional_feature_based_object_recognition.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/selective_search.py b/jsk_perception/node_scripts/selective_search.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/sklearn_classifier.py b/jsk_perception/node_scripts/sklearn_classifier.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/solidity_rag_merge.py b/jsk_perception/node_scripts/solidity_rag_merge.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/speak_when_label_found.py b/jsk_perception/node_scripts/speak_when_label_found.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/split_fore_background.py b/jsk_perception/node_scripts/split_fore_background.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/split_image.py b/jsk_perception/node_scripts/split_image.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/ssd_object_detector.py b/jsk_perception/node_scripts/ssd_object_detector.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/tile_image.py b/jsk_perception/node_scripts/tile_image.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/unwrap_histogram_with_range_array.py b/jsk_perception/node_scripts/unwrap_histogram_with_range_array.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/node_scripts/vgg16_object_recognition.py b/jsk_perception/node_scripts/vgg16_object_recognition.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/package.xml b/jsk_perception/package.xml
index 45fba3d647..accc2283f2 100644
--- a/jsk_perception/package.xml
+++ b/jsk_perception/package.xml
@@ -18,6 +18,7 @@
 
   <!-- ALPHABETICAL ORDER -->
   <build_depend>angles</build_depend>
+  <build_depend>catkin_virtualenv</build_depend>
   <build_depend>cmake_modules</build_depend>
   <build_depend>cv_bridge</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
@@ -131,5 +132,6 @@
   <export>
     <nodelet plugin="${prefix}/plugins/nodelet/libjsk_perception.xml"/>
     <nodelet plugin="${prefix}/plugins/nodelet/libopencv_apps.xml"/>
+    <pip_requirements>requirements.txt</pip_requirements>
   </export>
 </package>
diff --git a/jsk_perception/requirements.in b/jsk_perception/requirements.in
new file mode 100644
index 0000000000..52e225a8a8
--- /dev/null
+++ b/jsk_perception/requirements.in
@@ -0,0 +1 @@
+pytesseract==0.3.6
diff --git a/jsk_perception/requirements.txt.indigo b/jsk_perception/requirements.txt.indigo
new file mode 100644
index 0000000000..ce4ecd1030
--- /dev/null
+++ b/jsk_perception/requirements.txt.indigo
@@ -0,0 +1,6 @@
+#
+# this is only used for indigo (pr2)
+#
+# kinetic+ users will use requirements.in
+#
+pytesseract==0.3.6        # via -r requirements.in
diff --git a/jsk_perception/scripts/check_cascadeclassifier.py b/jsk_perception/scripts/check_cascadeclassifier.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/scripts/create_bof_dataset.py b/jsk_perception/scripts/create_bof_dataset.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/scripts/create_db_for_feature_based_object_recognition.py b/jsk_perception/scripts/create_db_for_feature_based_object_recognition.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/scripts/create_mls_correspondence.py b/jsk_perception/scripts/create_mls_correspondence.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/scripts/create_sift_dataset.py b/jsk_perception/scripts/create_sift_dataset.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/scripts/install_learning_datasets.py b/jsk_perception/scripts/install_learning_datasets.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/scripts/install_sample_data.py b/jsk_perception/scripts/install_sample_data.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/scripts/install_test_data.py b/jsk_perception/scripts/install_test_data.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/scripts/install_trained_data.py b/jsk_perception/scripts/install_trained_data.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/scripts/mls_matlab2opencv.py b/jsk_perception/scripts/mls_matlab2opencv.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/scripts/opencv_traindata_rejector.py b/jsk_perception/scripts/opencv_traindata_rejector.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/scripts/sklearn_classifier_trainer.py b/jsk_perception/scripts/sklearn_classifier_trainer.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/scripts/ssd_train_dataset.py b/jsk_perception/scripts/ssd_train_dataset.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/scripts/train_fcn.py b/jsk_perception/scripts/train_fcn.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/scripts/train_fcn_depth_prediction.py b/jsk_perception/scripts/train_fcn_depth_prediction.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/scripts/train_mask_rcnn.py b/jsk_perception/scripts/train_mask_rcnn.py
old mode 100755
new mode 100644
diff --git a/jsk_perception/scripts/train_ssd.py b/jsk_perception/scripts/train_ssd.py
old mode 100755
new mode 100644