diff --git a/.travis.yml b/.travis.yml
index c09a237b79..c9ffbc8f4d 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,7 +1,16 @@
-sudo: required
-
 services:
   - docker
 
-script:
-  - docker build travis/. --no-cache
+install:
+  - git clone --quiet --depth 1 https://github.com/mikaelarguedas/ros2ci.git .ros2ci
+
+matrix:
+  include:
+    - env: JOB_TYPE=crystal
+      script: .ros2ci/travis.bash $JOB_TYPE
+    # Uncomment the following to test against ROS 2 Dashing
+    # - env: JOB_TYPE=dashing
+    #   script: .ros2ci/travis.bash $JOB_TYPE
+    # Uncomment the following to test against ROS 2 nightly build
+    # - env: JOB_TYPE=nightly
+    #   script: .ros2ci/travis.bash $JOB_TYPE
diff --git a/travis/Dockerfile b/travis/Dockerfile
deleted file mode 100644
index c5974c23d8..0000000000
--- a/travis/Dockerfile
+++ /dev/null
@@ -1,84 +0,0 @@
-FROM ubuntu:bionic
-
-# setup timezone
-RUN echo 'Etc/UTC' > /etc/timezone && \
-    ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
-    apt-get update && apt-get install -q -y tzdata && rm -rf /var/lib/apt/lists/*
-
-# install packages
-RUN apt-get update && apt-get install -q -y \
-    bash-completion \
-    dirmngr \
-    git \
-    gnupg2 \
-    libasio-dev \
-    libtinyxml2-dev \
-    lsb-release \
-    python3-pip \
-    wget \
-    && rm -rf /var/lib/apt/lists/*
-
-# setup keys
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116
-
-# setup sources.list
-RUN echo "deb http://packages.ros.org/ros2/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros2-latest.list
-
-# setup environment
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
-
-# install packages from the ROS repositories
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    python3-catkin-pkg-modules \
-    python3-colcon-common-extensions \
-    python3-rosdep \
-    python3-vcstool \
-    && rm -rf /var/lib/apt/lists/*
-
-# install python packages
-RUN pip3 install -U \
-    argcomplete \
-    flake8 \
-    flake8-blind-except \
-    flake8-builtins \
-    flake8-class-newline \
-    flake8-comprehensions \
-    flake8-deprecated \
-    flake8-docstrings \
-    flake8-import-order \
-    flake8-quotes \
-    pytest-repeat \
-    pytest-rerunfailures
-
-# bootstrap rosdep
-RUN rosdep init \
-    && rosdep update
-
-# clone source
-ENV ROS2_WS /root/ros2_ws
-RUN mkdir -p $ROS2_WS/src
-COPY ./workspace.repos $ROS2_WS
-WORKDIR $ROS2_WS
-RUN vcs import src < workspace.repos
-
-ENV ROS_DISTRO crystal
-# install dependencies
-RUN apt-get update && rosdep install -y \
-    --from-paths src \
-    --ignore-src \
-    --rosdistro $ROS_DISTRO \
-    && rm -rf /var/lib/apt/lists/*
-
-# build source
-WORKDIR $ROS2_WS
-RUN ["/bin/bash", "-c", "source /opt/ros/$ROS_DISTRO/setup.bash && colcon \
-    build \
-    --cmake-args -DSECURITY=ON --no-warn-unused-cli \
-    --symlink-install \
-    --event-handler console_direct+"]
-RUN ["/bin/bash", "-c", "source /opt/ros/$ROS_DISTRO/local_setup.bash && \
-    source $ROS2_WS/install/setup.bash && colcon \
-    test \
-    --event-handler console_direct+"]
-RUN colcon test-result
diff --git a/travis/workspace.repos b/travis/workspace.repos
deleted file mode 100644
index 634a9756e9..0000000000
--- a/travis/workspace.repos
+++ /dev/null
@@ -1,5 +0,0 @@
-repositories:
-  ros-controls/ros2_control:
-    type: git
-    url: https://github.com/ros-controls/ros2_control.git
-    version: crystal