diff --git a/.travis.yml b/.travis.yml
index cc9cf53d..b7791caa 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -6,103 +6,30 @@ compiler:
 
 matrix:
   include:
-
-    - dist: trusty
-      install:
-        - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty 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
-        - sudo apt-get install dpkg
-        - sudo apt-get -y install ros-indigo-rtabmap-ros
-        - sudo apt-get -y remove ros-indigo-rtabmap
-
-      script: 
-        - source /opt/ros/indigo/setup.bash
-        - export PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages
-        - cd ..
-        - mkdir -p catkin_ws/src
-        - cd catkin_ws/src
-        - catkin_init_workspace
-        - cd ..
-        - catkin_make
-        - cd ..
-        - mv rtabmap_ros catkin_ws/src/.
-        - git clone https://github.com/introlab/rtabmap.git
-        - cd rtabmap
-        - if [ "$TRAVIS_BRANCH" = "devel" ]; then git checkout devel; fi
-        - mkdir -p build && cd build
-        - cmake -DCMAKE_INSTALL_PREFIX=~/build/introlab/catkin_ws/devel .. 
-        - make
-        - make install
-        - cd ../../catkin_ws
-        - source devel/setup.bash
-        - catkin_make
-        - catkin_make install
-
-    - dist: xenial
-      install:
-        - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial 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
-        - sudo apt-get install dpkg
-        - sudo apt-get -y install ros-kinetic-rtabmap-ros
-        - sudo apt-get -y remove ros-kinetic-rtabmap
-
-      script: 
-        - source /opt/ros/kinetic/setup.bash
-        - export PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages
-        - cd ..
-        - mkdir -p catkin_ws/src
-        - cd catkin_ws/src
-        - catkin_init_workspace
-        - cd ..
-        - catkin_make
-        - cd ..
-        - mv rtabmap_ros catkin_ws/src/.
-        - git clone https://github.com/introlab/rtabmap.git
-        - cd rtabmap
-        - if [ "$TRAVIS_BRANCH" = "devel" ]; then git checkout devel; fi
-        - mkdir -p build && cd build
-        - cmake -DCMAKE_INSTALL_PREFIX=~/build/introlab/catkin_ws/devel .. 
-        - make
-        - make install
-        - cd ../../catkin_ws
-        - source devel/setup.bash
-        - catkin_make
-        - catkin_make install        
-
     - dist: bionic
       install:
-        - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu bionic 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
-        - sudo apt-get install dpkg
-        - sudo apt-get -y install ros-melodic-rtabmap-ros
-        - sudo apt-get -y remove ros-melodic-rtabmap
+        - sudo apt update && sudo apt install curl gnupg2 lsb-release 
+        - curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+        - sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
+        - sudo apt-get -y install ros-eloquent-desktop ros-eloquent-message-filters ros-eloquent-image-transport ros-eloquent-pcl-conversions
 
       script: 
-        - source /opt/ros/melodic/setup.bash
-        - export PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages
+        - source /opt/ros/eloquent/setup.bash
         - cd ..
-        - mkdir -p catkin_ws/src
-        - cd catkin_ws/src
-        - catkin_init_workspace
-        - cd ..
-        - catkin_make
-        - cd ..
-        - mv rtabmap_ros catkin_ws/src/.
+        - mkdir -p ros2_ws/src
+        - mv rtabmap_ros ros2_ws/src/.
         - git clone https://github.com/introlab/rtabmap.git
         - cd rtabmap
-        - if [ "$TRAVIS_BRANCH" = "devel" ]; then git checkout devel; fi
         - mkdir -p build && cd build
-        - cmake -DCMAKE_INSTALL_PREFIX=~/build/introlab/catkin_ws/devel .. 
+        - cmake -DCMAKE_INSTALL_PREFIX=~/build/introlab/ros2_ws/install .. 
         - make
         - make install
-        - cd ../../catkin_ws
-        - source devel/setup.bash
-        - catkin_make
-        - catkin_make install
-
+        - cd ../../ros2_ws
+        - source install/setup.bash
+        
+        - colcon build --parallel-workers 3
+        - colcon build install
+        
 notifications:
   email:
     - matlabbe@gmail.com
diff --git a/include/rtabmap_ros/point_cloud_aggregator.hpp b/include/rtabmap_ros/point_cloud_aggregator.hpp
index 2a533261..709d073d 100644
--- a/include/rtabmap_ros/point_cloud_aggregator.hpp
+++ b/include/rtabmap_ros/point_cloud_aggregator.hpp
@@ -33,8 +33,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 
-#include <sensor_msgs/PointCloud2.h>
-
 #include <message_filters/sync_policies/approximate_time.h>
 #include <message_filters/subscriber.h>
 #include <message_filters/sync_policies/exact_time.h>