diff --git a/jsk_spot_robot/jsk_spot_startup/apps/sample_eye_rotation/sample-eye-rotation.l b/jsk_spot_robot/jsk_spot_startup/apps/sample_eye_rotation/sample-eye-rotation.l
new file mode 100755
index 0000000000..8cb0fe26f8
--- /dev/null
+++ b/jsk_spot_robot/jsk_spot_startup/apps/sample_eye_rotation/sample-eye-rotation.l
@@ -0,0 +1,28 @@
+#!/usr/bin/env roseus
+
+(ros::load-ros-manifest "geometry_msgs")
+(load "package://spoteus/spot-interface.l")
+(spot-init)
+
+(setq *pi* 3.14159265358979)
+
+(setq *right-eye-topic* "/right_eye/look_at")
+(setq *left-eye-topic* "/left_eye/look_at")
+
+(setq *right-eye-target* (instance geometry_msgs::Point :init))
+(setq *left-eye-target* (instance geometry_msgs::Point :init))
+
+(ros::advertise *right-eye-topic* geometry_msgs::Point 1)
+(ros::advertise *left-eye-topic* geometry_msgs::Point 1)
+
+(setq index 0)
+(ros::rate 10)
+(while (ros::ok)
+       (ros::sleep)
+       (send *right-eye-target* :x (cos (/ (* 2 *pi* index) 10)))
+       (send *right-eye-target* :y (sin (/ (* 2 *pi* index) 10)))
+       (send *left-eye-target* :x (cos (/ (* 2 *pi* index) 10)))
+       (send *left-eye-target* :y (sin (/ (* 2 *pi* index) 10)))
+       (ros::publish *right-eye-topic* *right-eye-target*)
+       (ros::publish *left-eye-topic* *left-eye-target*)
+       )
diff --git a/jsk_spot_robot/jsk_spot_startup/apps/sample_eye_rotation/sample_eye_rotation.app b/jsk_spot_robot/jsk_spot_startup/apps/sample_eye_rotation/sample_eye_rotation.app
new file mode 100644
index 0000000000..a40a8065c1
--- /dev/null
+++ b/jsk_spot_robot/jsk_spot_startup/apps/sample_eye_rotation/sample_eye_rotation.app
@@ -0,0 +1,4 @@
+display: Sample Eye Rotation
+platform: spot
+launch: jsk_spot_startup/sample_eye_rotation.xml
+interface: jsk_spot_startup/sample_eye_rotation.interface
diff --git a/jsk_spot_robot/jsk_spot_startup/apps/sample_eye_rotation/sample_eye_rotation.interface b/jsk_spot_robot/jsk_spot_startup/apps/sample_eye_rotation/sample_eye_rotation.interface
new file mode 100644
index 0000000000..c27c9c296e
--- /dev/null
+++ b/jsk_spot_robot/jsk_spot_startup/apps/sample_eye_rotation/sample_eye_rotation.interface
@@ -0,0 +1,3 @@
+published_topics: {}
+subscribed_topics: {}
+
diff --git a/jsk_spot_robot/jsk_spot_startup/apps/sample_eye_rotation/sample_eye_rotation.xml b/jsk_spot_robot/jsk_spot_startup/apps/sample_eye_rotation/sample_eye_rotation.xml
new file mode 100644
index 0000000000..5d9a754f10
--- /dev/null
+++ b/jsk_spot_robot/jsk_spot_startup/apps/sample_eye_rotation/sample_eye_rotation.xml
@@ -0,0 +1,3 @@
+<launch>
+  <node pkg="jsk_spot_startup" type="sample-eye-rotation.l" name="sample_eye_rotation"/>
+</launch>