diff --git a/.travis.sh b/.travis.sh
new file mode 100644
index 00000000..d03b34b7
--- /dev/null
+++ b/.travis.sh
@@ -0,0 +1,34 @@
+#!/bin/bash
+
+set -x
+set -e
+
+apt-get update
+apt-get install -y sudo software-properties-common wget # minimum deps for the commands below
+
+echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
+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 add-apt-repository $MRPT_PPA -y
+sudo apt-get update -qq
+sudo apt-get install -qq -y python-rosdep
+sudo rosdep init
+rosdep update; while [ $? != 0 ]; do sleep 1; rosdep update; done
+
+# Use rosdep to install all dependencies (including ROS itself)
+rosdep install --from-paths ./ -i -y --rosdistro $CI_ROS_DISTRO
+
+# ROS env vars:
+source /opt/ros/$CI_ROS_DISTRO/setup.bash
+
+# Setup catkin Workspace:
+mkdir -p ~/catkin_ws/src
+ln -s $CI_SOURCE_PATH ~/catkin_ws/src # Link the repo we are testing to the new workspace
+cd ~/catkin_ws/
+
+# Build [and Install] packages, build tests, and run tests
+catkin_make_isolated --install --cmake-args -DCMAKE_BUILD_TYPE=Release
+catkin_make_isolated --install --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-make-args tests
+catkin_make_isolated --install --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-make-args run_tests
+# Check results
+catkin_test_results ./build_isolated
diff --git a/.travis.yml b/.travis.yml
index 71b553ad..796b4742 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,70 +1,20 @@
-#
-# Use ubuntu trusty (14.04) with sudo privileges.
-dist: trusty
+# We cannot use latest ROS distributions in travis since we are limited to trusty
+# So, let's use docker.
 sudo: required
-language:
-  - generic
-cache:
-  - apt
-
-# Configuration variables. All variables are global now, but this can be used to
-# trigger a build matrix for different ROS distributions if desired.
+dist: trusty
+language: c++
+notifications:
 env:
-  global:
-    - ROS_DISTRO=indigo
-    - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
-    - CI_SOURCE_PATH=$(pwd)
-    - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
-    - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
-    - ROS_PARALLEL_JOBS='-j1 -l6'
-
-################################################################################
-
-# Install system dependencies, namely a very barebones ROS setup.
-before_install:
-  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
-  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-  - sudo apt-get update -qq
-  - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin 
-  - source /opt/ros/$ROS_DISTRO/setup.bash
-  # Prepare rosdep to install dependencies.
-  - sudo rosdep init
-  - rosdep update -qq
-  - sudo apt-get install -y build-essential pkg-config cmake 
-  - if [[ "$TASK" == "build_mrpt_ppa" ]] ; then sudo add-apt-repository ppa:joseluisblancoc/mrpt -y ; sudo apt-get update -qq ; fi
-  - sudo apt-get install -y libmrpt-dev
-
-# Create a catkin workspace with the package under integration.
-install:
-  - mkdir -p ~/catkin_ws/src
-  - cd ~/catkin_ws/src
-  - catkin_init_workspace
-  # Create the devel/setup.bash (run catkin_make with an empty workspace) and
-  # source it to set the path variables.
-  - cd ~/catkin_ws
-  - catkin_make
-  - source devel/setup.bash
-  # Add the package under integration to the workspace using a symlink.
-  - cd ~/catkin_ws/src
-  - ln -s $CI_SOURCE_PATH .
-
-# Install all dependencies, using wstool and rosdep.
-# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
+  matrix:
+    - CI_ROS_DISTRO=kinetic MRPT_BRANCH="2.0" MRPT_PPA="ppa:joseluisblancoc/mrpt"
+    - CI_ROS_DISTRO=kinetic MRPT_BRANCH="1.5" MRPT_PPA="ppa:joseluisblancoc/mrpt-1.5"
+#    - ROS_DISTRO=kinetic BUILDER='catkin_make_isolated'   BUILDER='catkin_make'
 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 -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
-
-# Compile and test. If the CATKIN_OPTIONS file exists, use it as an argument to
-# catkin_make.
+  - case $CI_ROS_DISTRO in "kinetic") export DISTRO=xenial;; "lunar") export DISTRO=xenial;; esac;
+  - export DOCKER_IMAGE=ubuntu:$DISTRO
+  - export CI_SOURCE_PATH=$(pwd)
+  - export REPOSITORY_NAME=${PWD##*/}
+  - if [ ! "$ROS_PARALLEL_JOBS" ]; then export ROS_PARALLEL_JOBS="-j8 -l8";  fi
+  - docker images
 script:
-  - cd ~/catkin_ws
-  - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS )
-  # Testing: Use both run_tests (to see the output) and test (to error out).
-  - catkin_make run_tests  # This always returns 0, but looks pretty.
-  - catkin_make test  # This will return non-zero if a test fails.
+  - docker run -v $HOME:$HOME -e MRPT_PPA -e CI_SOURCE_PATH -e REPOSITORY_NAME -e HOME -e DISTRO -e CI_ROS_DISTRO -e ROS_PARALLEL_JOBS $DOCKER_IMAGE bash -c 'cd $CI_SOURCE_PATH; source .travis.sh'