diff --git a/.travis.yml b/.travis.yml
new file mode 100644
index 0000000..c8c99c5
--- /dev/null
+++ b/.travis.yml
@@ -0,0 +1,61 @@
+# General .travis.yml file for running continuous integration on Travis-CI using
+# Docker to test other Ubuntu/ROS versions that just the versions that are
+# natively supported by Travis-CI.
+#
+# Initially based on the .travis.yml file posted by Felix Duvallet for using
+# Travis-CI with any ROS package <felixd@gmail.com>
+#
+# Almost completely redone by Alex Tomala and Michael Smart.
+#
+# NOTE: The build lifecycle on Travis.ci is something like this:
+#    before_install
+#    install
+#    before_script
+#    script
+#    after_success or after_failure
+#    after_script
+#    OPTIONAL before_deploy
+#    OPTIONAL deploy
+#    OPTIONAL after_deploy
+#
+################################################################################
+
+# Use ubuntu trusty (14.04) with sudo privileges.
+dist: trusty
+sudo: required
+
+# Set build matrix and global CI env variables
+env:
+  global:
+  - DOCKER_CACHE_DIR=$HOME/docker_cache
+  - DOCKER_CI_REL_DIR=.
+  matrix:
+    - DOCKER_DISTRO=trusty
+    - DOCKER_DISTRO=xenial
+
+################################################################################
+
+# Have to pull git outside of docker as the container doesn't have an ssh key.
+before_install:
+  - git submodule init
+  - git submodule -q update
+
+# Load the cached docker container. Otherwise, delete and rebuild it.
+install:
+  - travis_wait 45 bash ${DOCKER_CI_REL_DIR}/docker-setup-ci.bash
+
+# Execute the CI script using the docker container
+#
+# docker-run-ci.sh takes one argument:
+#   {1}: The relative path to the respository's own CI test script
+script:
+  - bash ${DOCKER_CI_REL_DIR}/docker-run-ci.bash scripts/run-ci-tests.bash
+
+# Cache the docker container if it was rebuilt above.
+before_cache:
+  - bash ${DOCKER_CI_REL_DIR}/save-docker-cache-ci.bash
+
+cache:
+  directories:
+    - $HOME/docker_cache
+  timeout: 1200
diff --git a/scripts/create_catkin_workspace.bash b/scripts/create_catkin_workspace.bash
new file mode 100644
index 0000000..c5e6827
--- /dev/null
+++ b/scripts/create_catkin_workspace.bash
@@ -0,0 +1,44 @@
+#!/bin/bash
+set -e
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+# get UBUNTU_CODENAME, ROS_DISTRO, REPO_DIR, CATKIN_DIR
+source $SCRIPT_DIR/identify_environment.bash
+
+main()
+{
+    install_catkin_tools
+    create_catkin_ws
+}
+
+install_catkin_tools()
+{
+    # Check if already installed
+    if type catkin > /dev/null 2>&1; then
+        echo "Catkin tools is already installed"
+    else
+        echo "Installing catkin tools ..."
+        sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
+        wget -qO - http://packages.ros.org/ros.key | sudo apt-key add -
+        sudo apt-get -qq update
+        sudo apt-get -qq install python-catkin-tools > /dev/null
+        echo "Catkin tools installed successfully."
+    fi
+}
+
+create_catkin_ws()
+{
+    # Check if workspace exists
+    if [ -e "$CATKIN_DIR/.catkin_workspace" ] || [ -d "$CATKIN_DIR/.catkin_tools" ]; then
+        echo "Catkin workspace detected at ~/catkin_ws"
+    else
+        echo "Creating catkin workspace in $HOME/catkin_ws ..."
+        source /opt/ros/$ROS_DISTRO/setup.bash
+        mkdir -p "$HOME/catkin_ws/src"
+        cd "$HOME/catkin_ws"
+        catkin init > /dev/null
+        catkin build --no-status
+        echo "Catkin workspace created successfully."
+    fi
+}
+
+main
diff --git a/scripts/identify_environment.bash b/scripts/identify_environment.bash
new file mode 100644
index 0000000..f71becb
--- /dev/null
+++ b/scripts/identify_environment.bash
@@ -0,0 +1,14 @@
+#!/bin/bash
+set -e
+export UBUNTU_CODENAME=$(lsb_release -s -c)
+case $UBUNTU_CODENAME in
+  trusty)
+    export ROS_DISTRO=indigo;;
+  xenial)
+    export ROS_DISTRO=kinetic;;
+  *)
+    echo "Unsupported version of Ubuntu detected. Only trusty (14.04.*) and xenial (16.04.*) are currently supported."
+    exit 1
+esac
+export REPO_DIR=$(dirname "$SCRIPT_DIR")
+export CATKIN_DIR="$HOME/catkin_ws"
diff --git a/scripts/install_deps_for_docker_ci.bash b/scripts/install_deps_for_docker_ci.bash
new file mode 100644
index 0000000..8d575e8
--- /dev/null
+++ b/scripts/install_deps_for_docker_ci.bash
@@ -0,0 +1,5 @@
+#!/bin/bash
+set -e
+
+source /scripts/ros_install.bash
+source /scripts/create_catkin_workspace.bash
diff --git a/scripts/ros_install.bash b/scripts/ros_install.bash
new file mode 100644
index 0000000..4023bfd
--- /dev/null
+++ b/scripts/ros_install.bash
@@ -0,0 +1,40 @@
+#!/bin/bash
+set -e  # exit on first error
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+# get UBUNTU_CODENAME, ROS_DISTRO, REPO_DIR, CATKIN_DIR
+source $SCRIPT_DIR/identify_environment.bash
+
+ROSPACKAGES_DIR="$REPO_DIR/rospackages"
+
+sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $UBUNTU_CODENAME main\" > /etc/apt/sources.list.d/ros-latest.list"
+wget -qO - http://packages.ros.org/ros.key | sudo apt-key add -
+
+echo "Updating package lists ..."
+sudo apt-get -qq update
+echo "Installing ROS $ROS_DISTRO ..."
+sudo apt-get -qq install python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin ros-$ROS_DISTRO-desktop > /dev/null
+sudo apt-get -qq install ros-$ROS_DISTRO-pcl-ros ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-image-transport-plugins ros-$ROS_DISTRO-libg2o > /dev/null
+
+source /opt/ros/$ROS_DISTRO/setup.bash
+
+# Prepare rosdep to install dependencies.
+echo "Updating rosdep ..."
+if [ ! -d /etc/ros/rosdep ]; then
+    sudo rosdep init > /dev/null
+fi
+
+# Add Dataspeed packages
+echo "Setting up Dataspeed apt and rosdep repositories"
+bash <(wget -q -O - https://bitbucket.org/DataspeedInc/ros_binaries/raw/default/scripts/setup.bash)
+
+rosdep update
+sudo apt-get -qq install python-rosinstall
+
+# Install system dependencies listed in ROS packages' package.xml
+# Note: dependencies needed on embedded systems must still be included
+# separately in the repo or cross-compiled stage.
+if [ -d "$ROSPACKAGES_DIR" ]; then
+    rosdep -q -y install --from-paths "$ROSPACKAGES_DIR" --ignore-src
+else
+    echo "Repository not detected: rosdep did not run"
+fi
diff --git a/scripts/run-ci-tests.bash b/scripts/run-ci-tests.bash
new file mode 100644
index 0000000..03ea6bd
--- /dev/null
+++ b/scripts/run-ci-tests.bash
@@ -0,0 +1,14 @@
+#!/bin/bash
+set -e  # exit on first error
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+# get UBUNTU_CODENAME, ROS_DISTRO, REPO_DIR, CATKIN_DIR
+source $SCRIPT_DIR/identify_environment.bash
+source /opt/ros/${ROS_DISTRO}/setup.bash
+
+sudo apt-get update
+
+cd ${CATKIN_DIR}
+
+catkin build --no-status