diff --git a/.travis.sh b/.travis.sh
new file mode 100755
index 00000000..d886213a
--- /dev/null
+++ b/.travis.sh
@@ -0,0 +1,77 @@
+#!/bin/bash
+
+set -e
+
+function travis_time_start {
+    set +x
+    TRAVIS_START_TIME=$(date +%s%N)
+    TRAVIS_TIME_ID=$(cat /dev/urandom | tr -dc 'a-z0-9' | fold -w 8 | head -n 1)
+    TRAVIS_FOLD_NAME=$1
+    echo -e "\e[0Ktraivs_fold:start:$TRAVIS_FOLD_NAME"
+    echo -e "\e[0Ktraivs_time:start:$TRAVIS_TIME_ID"
+    set -x
+}
+function travis_time_end {
+    set +x
+    _COLOR=${1:-32}
+    TRAVIS_END_TIME=$(date +%s%N)
+    TIME_ELAPSED_SECONDS=$(( ($TRAVIS_END_TIME - $TRAVIS_START_TIME)/1000000000 ))
+    echo -e "traivs_time:end:$TRAVIS_TIME_ID:start=$TRAVIS_START_TIME,finish=$TRAVIS_END_TIME,duration=$(($TRAVIS_END_TIME - $TRAVIS_START_TIME))\n\e[0K"
+    echo -e "traivs_fold:end:$TRAVIS_FOLD_NAME"
+    echo -e "\e[0K\e[${_COLOR}mFunction $TRAVIS_FOLD_NAME takes $(( $TIME_ELAPSED_SECONDS / 60 )) min $(( $TIME_ELAPSED_SECONDS % 60 )) sec\e[0m"
+    set -x
+}
+
+apt-get update -qq && apt-get install -qq -y -q wget sudo lsb-release # for docker
+
+travis_time_start setup.before_install
+#before_install:
+# Define some config vars.
+# Install ROS
+sudo sh -c "echo \"deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main\" > /etc/apt/sources.list.d/ros-latest.list"
+wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+sudo apt-get update -qq
+# Install ROS
+sudo apt-get install -qq -y python-catkin-pkg python-catkin-tools python-rosdep python-wstool ros-$ROS_DISTRO-catkin
+source /opt/ros/$ROS_DISTRO/setup.bash
+# Setup for rosdep
+sudo rosdep init
+rosdep update
+travis_time_end
+
+travis_time_start setup.install
+# 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
+travis_time_end
+
+travis_time_start setup.before_script
+# 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
+wstool up
+
+# package depdencies: install using rosdep.
+cd ~/catkin_ws
+rosdep install -q -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+travis_time_end
+
+travis_time_start setup.script
+# Compile and test.
+#script:
+source /opt/ros/$ROS_DISTRO/setup.bash
+cd ~/catkin_ws
+catkin build -p1 -j1
+catkin run_tests -p1 -j1
+catkin_test_results --all build
+catkin clean -b --yes
+catkin config --install
+catkin build -p1 -j1
+travis_time_end
diff --git a/.travis.yml b/.travis.yml
new file mode 100644
index 00000000..25a39c65
--- /dev/null
+++ b/.travis.yml
@@ -0,0 +1,18 @@
+sudo: required
+dist: trusty
+language: generic
+env:
+  matrix:
+    - ROS_DISTRO=lunar DOCKER_IMAGE=ubuntu:zesty
+# Install system dependencies, namely ROS.
+before_install:
+  # Define some config vars.
+  - export CI_SOURCE_PATH=$(pwd)
+  - export REPOSITORY_NAME=${PWD##*/}
+  - export ROS_PARALLEL_JOBS='-j8 -l6'
+script:
+  - echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
+  - docker run --rm -i -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -e "ROS_DISTRO=$ROS_DISTRO" -e "ROS_PARALLEL_JOBS=$ROS_PARALLEL_JOBS" -t $DOCKER_IMAGE sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"
+after_failure:
+  - find ${HOME}/.ros/test_results -type f -exec echo "== {} ==" \; -exec cat {} \;
+  - for file in ${HOME}/.ros/log/rostest-*; do echo "=== $file ==="; cat $file; done