diff --git a/.travis.yml b/.travis.yml
index d04e00c..32f93f7 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,56 +1,37 @@
-sudo: required
-language: generic
+# This config file for Travis CI utilizes ros-industrial/industrial_ci package.
+# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst
 services:
   - docker
-
-branches:
-  except:
-   - gh-pages
+language: generic
+compiler:
+  - gcc
 
 env:
   global:
-    - CONTAINER_NAME=catkin_pip_docker
-  # This will check any ROS distro supported on this OS
-  # checking devel and install separately so that they don't influence each other (dependencies, path, env, etc.)
+    - VERBOSE_OUTPUT=true
   matrix:
-    - ROS_DISTRO=indigo ROS_FLOW=devel
-    - ROS_DISTRO=indigo ROS_FLOW=install
-    - ROS_DISTRO=jade ROS_FLOW=devel
-    - ROS_DISTRO=jade ROS_FLOW=install
-    - ROS_DISTRO=kinetic ROS_FLOW=devel
-    - ROS_DISTRO=kinetic ROS_FLOW=install
-  # TODO : test all possible flows (installing deps on devel or not, etc.)
+  # add NOT_TEST_BUILD=true NOT_TEST_INSTALL=true to skip build or install tests
+    - ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - ROS_DISTRO="indigo" PRERELEASE=true
+    - ROS_DISTRO="kinetic"  ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - ROS_DISTRO="kinetic"  PRERELEASE=true
+    - ROS_DISTRO="lunar"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - ROS_DISTRO="lunar"   PRERELEASE=true
 
-before_install:
-  # Getting docker ros image
-  - docker pull ros:${ROS_DISTRO}-ros-core
-  # Running as daemon
-  - docker run --name ${CONTAINER_NAME} -d -t ros:${ROS_DISTRO}-ros-core /bin/bash | tee container.id
-  # Checking current container
-  - docker ps -a
-  - docker exec -ti ${CONTAINER_NAME} hostname
-  - docker exec -ti ${CONTAINER_NAME} uname -a
-  - docker exec -ti ${CONTAINER_NAME} cat /etc/lsb-release
+matrix:
+  allow_failures:
+  # Run docker-based ROS prerelease test http://wiki.ros.org/bloom/Tutorials/PrereleaseTest
+  # Because we might not want to run prerelease test for all PRs, it's omitted from pass-fail criteria.
+    - env: ROS_DISTRO="indigo" PRERELEASE=true
+    - env: ROS_DISTRO="kinetic"  PRERELEASE=true
+    - env: ROS_DISTRO="lunar"  PRERELEASE=true
 
 install:
-  # refreshing packages
-  - docker exec -ti ${CONTAINER_NAME} apt-get update
-  # TMP Patch because rosdep doesnt declare a dependency to sudo yet (2016-08-25) and it doesnt come with xenial
-  - docker exec -ti ${CONTAINER_NAME} apt-get install sudo -y
-  - docker exec -ti ${CONTAINER_NAME} rosdep update
-  # copying local clone to the running container (volume is currently broken)
-  - docker cp . ${CONTAINER_NAME}:/git_clone
-  # Installing package dependencies
-  - docker exec -ti ${CONTAINER_NAME} rosdep install --default-yes --from-paths /git_clone --rosdistro $ROS_DISTRO
+  - git clone https://github.com/ros-industrial/industrial_ci.git test/.ci_config
 
-# full ROS setup, build and test
 script:
-  - CONTAINER_ID=$(cat container.id)
-  - docker ps -a
-  - docker exec -ti ${CONTAINER_NAME} /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash && rospack profile"
-  # Passing env vars here since passing in docker run currently breaks (2016-08-25)
-  - docker exec -ti ${CONTAINER_NAME} /bin/bash -c "export ROS_DISTRO=$ROS_DISTRO && export ROS_FLOW=$ROS_FLOW && /git_clone/travis_checks.bash"
-  - docker stop "${CONTAINER_ID}"
+  # Since we need to run the test/CMakeLists.txt with travis
+  - cd test/ && .ci_config/travis.sh
 
 notifications:
   email: false