diff --git a/.travis.scripts/deps.rosinstall b/.travis.scripts/deps.rosinstall
new file mode 100644
index 0000000..1d3da1d
--- /dev/null
+++ b/.travis.scripts/deps.rosinstall
@@ -0,0 +1,4 @@
+- git:
+    local-name: yp-spur
+    uri: https://github.com/openspur/yp-spur.git
+    version: master
diff --git a/.travis.scripts/load_cache.sh b/.travis.scripts/load_cache.sh
new file mode 100755
index 0000000..f2bc21c
--- /dev/null
+++ b/.travis.scripts/load_cache.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+
+set -o errexit
+set -o verbose
+
+sudo apt-get -qq update
+sudo apt-get install -y liblz4-tool
+
+echo ${DOCKER_CACHE_FILE}
+
+if [ -f ${DOCKER_CACHE_FILE} ]; then
+	lz4 -dc ${DOCKER_CACHE_FILE} | docker load || true
+fi
+
diff --git a/.travis.scripts/save_cache.sh b/.travis.scripts/save_cache.sh
new file mode 100755
index 0000000..61e661c
--- /dev/null
+++ b/.travis.scripts/save_cache.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+
+set -o errexit
+set -o verbose
+
+if [[ ${TRAVIS_BRANCH} == "master" ]] && [[ ${TRAVIS_PULL_REQUEST} == "false" ]];
+then
+	mkdir -p $(dirname ${DOCKER_CACHE_FILE})
+	docker save $(docker history -q ${PACKAGE_NAME}:latest | grep -v '<missing>') | lz4 -zcf - > ${DOCKER_CACHE_FILE}
+
+	echo "------------"
+	ls -lh $(dirname ${DOCKER_CACHE_FILE})
+	echo "------------"
+fi
+
diff --git a/.travis.scripts/setup_docker.sh b/.travis.scripts/setup_docker.sh
new file mode 100755
index 0000000..c04ca6c
--- /dev/null
+++ b/.travis.scripts/setup_docker.sh
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+set -o errexit
+set -o verbose
+
+echo 'DOCKER_OPTS="-H tcp://127.0.0.1:2375 -H unix:///var/run/docker.sock -s overlay2"' \
+		 | sudo tee /etc/default/docker > /dev/null
+sudo service docker restart
+
+sleep 5
+docker info
+
diff --git a/.travis.scripts/test.sh b/.travis.scripts/test.sh
new file mode 100755
index 0000000..6e0f5a0
--- /dev/null
+++ b/.travis.scripts/test.sh
@@ -0,0 +1,52 @@
+#!/bin/bash
+
+set -o errexit
+set -o verbose
+
+scriptdir=`dirname "${0}"`
+
+wget -q -P /tmp https://raw.githubusercontent.com/at-wat/gh-pr-comment/master/gh-pr-comment.sh
+source /tmp/gh-pr-comment.sh
+
+source /opt/ros/${ROS_DISTRO}/setup.bash
+source /catkin_ws/devel/setup.bash
+
+cd /catkin_ws
+
+if [ -f $scriptdir/deps.rosinstall ];
+then
+  wstool init src $scriptdir/deps.rosinstall
+fi
+
+apt-get -qq update && \
+apt-get install libxml2-utils && \
+rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y && \
+apt-get clean && \
+rm -rf /var/lib/apt/lists/*
+
+catkin_make || (gh-pr-comment FAILED '```catkin_make``` failed'; false)
+catkin_make tests --cmake-args -DMCL_3DL_EXTRA_TESTS:=ON || (gh-pr-comment FAILED '```catkin_make tests``` failed'; false)
+catkin_make run_tests  --cmake-args -DMCL_3DL_EXTRA_TESTS:=ON || (gh-pr-comment FAILED '```catkin_make run_tests``` failed'; false)
+
+if [ catkin_test_results ];
+then
+  result_text="
+\`\`\`
+`catkin_test_results --all || true`
+\`\`\`
+"
+else
+  result_text="
+\`\`\`
+`catkin_test_results --all || true`
+\`\`\`
+`find build/test_results/ -name *.xml | xargs -n 1 -- bash -c 'echo; echo \#\#\# $0; echo; echo \\\`\\\`\\\`; xmllint --format $0; echo \\\`\\\`\\\`;'`
+"
+fi
+catkin_test_results || (gh-pr-comment FAILED "Test failed$result_text"; false)
+
+gh-pr-comment PASSED "All tests passed$result_text"
+
+cd ..
+rm -rf /catkin_ws || true
+
diff --git a/.travis.yml b/.travis.yml
new file mode 100644
index 0000000..dfb74d3
--- /dev/null
+++ b/.travis.yml
@@ -0,0 +1,24 @@
+sudo: required
+services: docker
+
+cache:
+  directories:
+    - /home/travis/docker/
+env:
+  global:
+    - DOCKER_CACHE_FILE=/home/travis/docker/cache.tar.lz4
+    - PACKAGE_NAME=ypspur_ros
+branches:
+  only:
+    - master
+
+before_install:
+  - .travis.scripts/setup_docker.sh
+  - .travis.scripts/load_cache.sh
+
+install: true
+
+script:
+  - docker build -t ${PACKAGE_NAME}:latest --pull=true ${TRAVIS_BUILD_DIR} --build-arg TRAVIS_PULL_REQUEST=${TRAVIS_PULL_REQUEST} --build-arg TRAVIS_REPO_SLUG=${TRAVIS_REPO_SLUG} --build-arg TRAVIS_BOT_GITHUB_TOKEN=${TRAVIS_BOT_GITHUB_TOKEN}
+  - .travis.scripts/save_cache.sh
+
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..539969f
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,21 @@
+FROM ros:kinetic
+
+RUN apt-get -qq update && \
+	apt-get install -y --no-install-recommends sudo wget curl && \
+	apt-get clean && \
+	rm -rf /var/lib/apt/lists/*
+
+RUN rosdep update && \
+	mkdir -p /catkin_ws/src && \
+	bash -c "cd /catkin_ws/src && . /opt/ros/${ROS_DISTRO}/setup.bash && catkin_init_workspace && cd .. && catkin_make"
+
+ARG TRAVIS_PULL_REQUEST=false
+ARG TRAVIS_REPO_SLUG=""
+ARG TRAVIS_BOT_GITHUB_TOKEN=""
+
+ENV TRAVIS_PULL_REQUEST=$TRAVIS_PULL_REQUEST
+ENV TRAVIS_REPO_SLUG=$TRAVIS_REPO_SLUG
+ENV TRAVIS_BOT_GITHUB_TOKEN=$TRAVIS_BOT_GITHUB_TOKEN
+
+COPY ./ /catkin_ws/src/$PACKAGE_NAME
+RUN /catkin_ws/src/$PACKAGE_NAME/.travis.scripts/test.sh