diff --git a/.travis.yml b/.travis.yml
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+sudo: required
+dist: trusty
+language: generic
+env:
+  - OPENCV_VERSION=2 ROS_DISTRO=indigo
+  - OPENCV_VERSION=3 ROS_DISTRO=indigo
+# Install system dependencies, namely ROS.
+before_install:
+  # Define some config vars.
+  - export ROS_CI_DESKTOP=`lsb_release -cs`  # e.g. [precise|trusty]
+  - export CI_SOURCE_PATH=$(pwd)
+  - export REPOSITORY_NAME=${PWD##*/}
+  - export ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
+  - export CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
+  - export ROS_PARALLEL_JOBS='-j8 -l6'
+  # Install ROS
+  - sudo sh -c "echo \"deb http://packages.ros.org/ros-shadow-fixed/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
+  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+  - sudo apt-get update -qq
+  # Install ROS
+  - sudo apt-get install -qq -y python-catkin-pkg python-catkin-tools python-rosdep python-wstool ros-$ROS_DISTRO-catkin
+  - source /opt/ros/$ROS_DISTRO/setup.bash
+  # Setup for rosdep
+  - sudo rosdep init
+  - rosdep update
+
+# Create a catkin workspace with the package under test.
+install:
+  - mkdir -p ~/catkin_ws/src
+
+  # Add the package under test to the workspace.
+  - cd ~/catkin_ws/src
+  - ln -s $CI_SOURCE_PATH . # Link the repo we are testing to the new workspace
+
+  - if [ $OPENCV_VERSION == 3 ]; then  sed -i 's@libopencv-dev@opencv3@' $REPOSITORY_NAME/*/package.xml ; fi
+
+# Install all dependencies, using wstool and rosdep.
+# wstool looks for a ROSINSTALL_FILE defined in before_install.
+before_script:
+  # source dependencies: install using wstool.
+  - cd ~/catkin_ws/src
+  - wstool init
+  - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
+  - wstool up
+
+  # package depdencies: install using rosdep.
+  - cd ~/catkin_ws
+  - rosdep install -q -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+
+# Compile and test.
+script:
+  - source /opt/ros/$ROS_DISTRO/setup.bash
+  - cd ~/catkin_ws
+  - catkin build -p1 -j1 --no-status
+  - catkin run_tests -p1 -j1 --no-status
+  - catkin_test_results --all build
+  - catkin clean -b --yes
+  - catkin config --install
+  - catkin build -p1 -j1 --no-status
+after_failure:
+  - if [ -e ~/catkin_ws/build/ ]; then catkin_test_results --verbose --all ~/catkin_ws/build ; fi
+  - if [ -e ~/.ros/test_results/ ]; then catkin_test_results --verbose --all ~/.ros/test_results ; fi