diff --git a/.travis.yml b/.travis.yml
index 80e5b32c..ed57faad 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,47 +1,107 @@
 sudo: true
-dist: trusty
 language: cpp
 
 compiler:
   - gcc
 
-addons:
-  apt:
-    packages:
-      - cmake
-      - libopencv-dev
-      - libqt4-dev
-      - libsqlite3-dev
+matrix:
+  include:
 
-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-ros-base libpcl-1.7-all libfreenect-dev ros-indigo-libg2o ros-indigo-octomap libopenni2-dev ros-indigo-costmap-2d ros-indigo-octomap-msgs ros-indigo-rviz ros-indigo-cv-bridge ros-indigo-move-base-msgs ros-indigo-costmap-2d ros-indigo-image-geometry ros-indigo-message-filters ros-indigo-image-transport ros-indigo-eigen-conversions ros-indigo-stereo-msgs ros-indigo-nav-msgs ros-indigo-sensor-msgs ros-indigo-tf-conversions ros-indigo-laser-geometry ros-indigo-pcl-conversions ros-indigo-pcl-ros ros-indigo-dynamic-reconfigure ros-indigo-nodelet
+    - 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
+        - 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
+      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
+        - 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
+        - sudo apt-get -y remove ros-melodic-rtabmap
+
+      script: 
+        - source /opt/ros/melodic/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
 
 notifications:
   email: