diff --git a/.travis.yml b/.travis.yml
index ecbe811..f6d22e7 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,69 +1,173 @@
-dist: trusty
 sudo: required
-compiler:
-  - gcc
-language: node_js
-node_js:
-  - "6"
-  - "7"
-  - "8"
+dist: xenial
+services:
+  - docker
+
+addons:
+  apt:
+    packages:
+      - docker-ce
 env:
   global:
-    - ROS_DISTRO=indigo
     - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
     - CI_SOURCE_PATH=$(pwd)
+    - CATKIN_WS_PATH=/root/catkin_ws
+    - DOCKER_SOURCE_PATH=/root/app
     - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
     - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
     - ROS_PARALLEL_JOBS='-j8 -l6'
     # Set the python path manually to include /usr/-/python2.7/dist-packages
     # as this is where apt-get installs python packages.
     - PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
+  matrix:
+    - distro: trusty
+      docker_tag: "0.0.2"
+      node_version: 6
+      ROS_DISTRO: indigo
+    - distro: trusty
+      docker_tag: "0.0.2"
+      node_version: 7
+      ROS_DISTRO: indigo
+    - distro: trusty
+      docker_tag: "0.0.2"
+      node_version: 8
+      ROS_DISTRO: indigo
+    - distro: xenial
+      docker_tag: "0.0.3"
+      node_version: 6
+      ROS_DISTRO: kinetic
+    - distro: xenial
+      docker_tag: "0.0.3"
+      node_version: 7
+      ROS_DISTRO: kinetic
+    - distro: xenial
+      docker_tag: "0.0.3"
+      node_version: 8
+      ROS_DISTRO: kinetic
+    - distro: bionic
+      docker_tag: "0.0.5"
+      node_version: 6
+      ROS_DISTRO: melodic 
+    - distro: bionic
+      docker_tag: "0.0.5"
+      node_version: 7
+      ROS_DISTRO: melodic
+    - distro: bionic
+      docker_tag: "0.0.5"
+      node_version: 8
+      ROS_DISTRO: melodic
+
 branches:
   only:
     - kinetic-devel
 
 # Install system dependencies, namely a very barebones ROS setup.
 before_install:
-  - sudo apt-get install -y dpkg  # to upgrade to dpkg >= 1.17.5ubuntu5.8, which fixes https://bugs.launchpad.net/ubuntu/+source/dpkg/+bug/1730627
-  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
-  - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
-  - sudo apt-get update -qq
-  - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin
-  - source /opt/ros/$ROS_DISTRO/setup.bash
-  # Prepare rosdep to install dependencies.
-  - sudo rosdep init
-  - rosdep update
+  - docker pull boldt/base-ubuntu-nvm-node-npm:${docker_tag}
+  - > 
+    docker run -d -it
+    -e ROS_REPO 
+    -e ROS_DISTRO 
+    -e ROSINSTALL_FILE 
+    -e ROS_CI_DESKTOP 
+    -e CATKIN_WS_PATH 
+    -e CATKIN_OPTIONS 
+    -e CI_SOURCE_PATH 
+    -e PYTHONPATH 
+    -e DOCKER_SOURCE_PATH 
+    -e node_version 
+    -v $(pwd):${DOCKER_SOURCE_PATH} 
+    --name build
+    boldt/base-ubuntu-nvm-node-npm:${docker_tag}
+  - docker ps -a
 
 # 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
-
-  # Install required message packages
-  - git clone https://github.com/ros/std_msgs.git src/std_msgs
-  - git clone https://github.com/ros/common_msgs src/common_msgs
-  - git clone https://github.com/RethinkRobotics-opensource/test_msgs.git src/test_msgs
-  - git clone https://github.com/ros/ros_comm_msgs.git src/ros_comm_msgs
-  # Install all dependencies, using wstool first and rosdep second.
-  # wstool looks for a ROSINSTALL_FILE defined in the environment variables.
-  - 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
-  - source devel/setup.bash
-
+  - >
+    docker exec build bash -c
+    'sudo apt-get install -y dpkg'
+    # to upgrade to dpkg >= 1.17.5ubuntu5.8, which fixes https://bugs.launchpad.net/ubuntu/+source/dpkg/+bug/1730627
+  - >
+    docker exec build bash -c
+    'sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"'
+  - >
+    docker exec build bash -c
+    'sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116;'
+  - >
+    docker exec build bash -c
+    'sudo apt-get update -qq;'
+  - >
+    docker exec build bash -c
+    'sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin;'
+  - >
+    docker exec build bash -c
+    'source /opt/ros/$ROS_DISTRO/setup.bash'
+    # Prepare rosdep to install dependencies.
+  - >
+    docker exec build bash -c
+    'sudo rosdep init;'
+  - >
+    docker exec build bash -c
+    'rosdep update;'
+  - >
+    docker exec build bash -c
+    'mkdir -p $CATKIN_WS_PATH/src;'
+  - > 
+    docker exec -w $CATKIN_WS_PATH/src build bash -c
+    'catkin_init_workspace;'
+    # Create the devel/setup.bash (run catkin_make with an empty workspace) and
+    # source it to set the path variables.
+  - >
+    docker exec -w $CATKIN_WS_PATH build bash -c
+    'catkin_make;'
+  - >
+    docker exec -w $CATKIN_WS_PATH build bash -c
+    'source devel/setup.bash;'
+    # Install required message packages
+  - >
+    docker exec -w $CATKIN_WS_PATH/src build bash -c
+    'git clone https://github.com/ros/std_msgs.git'
+  - >
+    docker exec -w $CATKIN_WS_PATH/src build bash -c
+    'git clone https://github.com/ros/common_msgs'
+  - >
+    docker exec -w $CATKIN_WS_PATH/src build bash -c
+    'git clone https://github.com/RethinkRobotics-opensource/test_msgs.git'
+  - >
+    docker exec -w $CATKIN_WS_PATH/src build bash -c
+    'git clone https://github.com/ros/ros_comm_msgs.git'
+    # Install all dependencies, using wstool first and rosdep second.
+    # wstool looks for a ROSINSTALL_FILE defined in the environment variables.
+  - >
+    docker exec -w $CATKIN_WS_PATH/src build bash -c 
+    'wstool init;'
+  - >
+    docker exec -w $CATKIN_WS_PATH/src build bash -c
+    'if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi;'
+  - >
+    docker exec -w $CATKIN_WS_PATH/src build bash -c
+    'wstool up;'
+    # package depdencies: install using rosdep.
+  - >
+    docker exec -w $CATKIN_WS_PATH build bash -c
+    'rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO;'
+  - >
+    docker exec -w $CATKIN_WS_PATH build bash -c
+    'source devel/setup.bash;'
+  - >
+    docker exec -w $CATKIN_WS_PATH build bash -c
+    'nvm install $node_version'
+    
 script:
-  - cd $CI_SOURCE_PATH
-  - npm install
-  - npm run compile
-  - npm run generate
-  - npm test
+  - >
+    docker exec -w $DOCKER_SOURCE_PATH build bash -c
+    'npm install;'
+  - >
+    docker exec -w $DOCKER_SOURCE_PATH build bash -c
+    'npm run compile;'
+  - >
+    docker exec -w $DOCKER_SOURCE_PATH build bash -c
+    'npm run generate;'
+  - >
+    docker exec -w $DOCKER_SOURCE_PATH build bash -c
+    'npm test;'