diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2320bd227..f022e6e9f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -268,6 +268,9 @@ set(OMNIORB_CFLAGS ${OMNIORB_CFLAGS} CACHE STRING "Compile flags for omniORB")
 
 # OpenRTM-aist
 find_package(OpenRTM REQUIRED)
+if(EXISTS "${OPENRTM_DIR}/include/openrtm-1.1/rtm/RTObjectStateMachine.h")
+add_definitions(-DOPENRTM_VERSION_TRUNK)
+endif()
 set(ADDITIONAL_SYMBOL "")
 include_directories(${OPENRTM_INCLUDE_DIRS})
 link_directories(${OPENRTM_LIBRARY_DIRS})
diff --git a/hrplib/hrpRTM/SimulationExecutionContext.cpp b/hrplib/hrpRTM/SimulationExecutionContext.cpp
index 6aaf84594..3a45b72e6 100644
--- a/hrplib/hrpRTM/SimulationExecutionContext.cpp
+++ b/hrplib/hrpRTM/SimulationExecutionContext.cpp
@@ -1,5 +1,5 @@
 #include <rtm/CorbaNaming.h>
-#if !defined(OPENRTM_VERSION042) && !defined(OPENRTM_VERSION110)
+#if (!defined(OPENRTM_VERSION042) && !defined(OPENRTM_VERSION110)) || defined(OPENRTM_VERSION_TRUNK)
 #include <rtm/Manager.h>
 #endif
 #include "SimulationExecutionContext.h"
@@ -21,7 +21,7 @@ namespace RTC
 
   ReturnCode_t SimulationExecutionContext::stop() throw (CORBA::SystemException)
   {
-#if defined(OPENRTM_VERSION042) || defined(OPENRTM_VERSION110)
+#if (defined(OPENRTM_VERSION042) || defined(OPENRTM_VERSION110)) && !defined(OPENRTM_VERSION_TRUNK)
     if (!m_running) return RTC::PRECONDITION_NOT_MET;
 
      OpenRTM::ExtTrigExecutionContextService_var extTrigExecContext =