diff --git a/.eca_a9.rosinstall b/.eca_a9.rosinstall
new file mode 100644
index 0000000..69557eb
--- /dev/null
+++ b/.eca_a9.rosinstall
@@ -0,0 +1,3 @@
+- git:
+    uri: https://github.com/uuvsimulator/uuv_simulator.git
+    local-name: uuv_simulator
\ No newline at end of file
diff --git a/.travis.yml b/.travis.yml
index 420af2d..79d4e61 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -10,7 +10,6 @@ env:
   global:
     - LIBGL_ALWAYS_SOFTWARE=1
     - VERBOSE_OUTPUT='false'
-    - CATKIN_CONFIG='--no-install'
     - CATKIN_PARALLEL_JOBS='-p1'
     - ROS_PARALLEL_JOBS='-j1'
     - CCACHE_DIR=$HOME/.ccache
@@ -18,14 +17,14 @@ env:
     - CATKIN_LINT_ARGS="--ignore link_directory"
 matrix:
   include:
-    - env: PRERELEASE=true USE_DEB=true ROS_DISTRO=kinetic ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu NOT_TEST_BUILD=true NOT_TEST_INSTALL=true BEFORE_SCRIPT='sh .uuv_ci_config/ros_$ROS_DISTRO.sh'
-    - env: AFTER_SCRIPT='sh .uuv_ci_config/run_tests.sh' USE_DEB=true ROS_DISTRO=kinetic ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu NOT_TEST_BUILD=true NOT_TEST_INSTALL=true BEFORE_SCRIPT='sh .uuv_ci_config/ros_$ROS_DISTRO.sh'
-    - env: PRERELEASE=true USE_DEB=true ROS_DISTRO=lunar ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu NOT_TEST_BUILD=true NOT_TEST_INSTALL=true BEFORE_SCRIPT='sh .uuv_ci_config/ros_$ROS_DISTRO.sh'
-    - env: AFTER_SCRIPT='sh .uuv_ci_config/run_tests.sh' USE_DEB=true ROS_DISTRO=lunar ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu NOT_TEST_BUILD=true NOT_TEST_INSTALL=true BEFORE_SCRIPT='sh .uuv_ci_config/ros_$ROS_DISTRO.sh'
-    - env: PRERELEASE=true USE_DEB=true ROS_DISTRO=melodic ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu NOT_TEST_BUILD=true NOT_TEST_INSTALL=true BEFORE_SCRIPT='sh .uuv_ci_config/ros_$ROS_DISTRO.sh'
-    - env: AFTER_SCRIPT='sh .uuv_ci_config/run_tests.sh' USE_DEB=true ROS_DISTRO=melodic ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu NOT_TEST_BUILD=true NOT_TEST_INSTALL=true BEFORE_SCRIPT='sh .uuv_ci_config/ros_$ROS_DISTRO.sh'
+    - env: PRERELEASE=true ROS_DISTRO=kinetic 
+    - env: ROS_DISTRO=kinetic 
+    - env: ROS_DISTRO=kinetic UPSTREAM_WORKSPACE=.eca_a9.rosinstall
+    - env: PRERELEASE=true ROS_DISTRO=melodic
+    - env: ROS_DISTRO=melodic
+    - env: ROS_DISTRO=melodic UPSTREAM_WORKSPACE=.eca_a9.rosinstall
 install:
-  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
+  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config -b master
 script:
   - source .ci_config/travis.sh
 notifications: