diff --git a/.travis.yml b/.travis.yml
index ff3aba5f..5c8309dd 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,8 +1,6 @@
-language:
-  - cpp
-  - python
-python:
-  - "2.7"
+sudo: required
+dist: trusty
+language: generic
 compiler:
   - gcc
 
@@ -12,18 +10,18 @@ branches:
     - develop
 
 install:
-  - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
+  - 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 -qq
-  - sudo apt-get install python-catkin-pkg python-rosdep ros-hydro-catkin -qq
+  - sudo apt-get install python-catkin-pkg python-rosdep ros-indigo-catkin -qq
   - sudo rosdep init
   - rosdep update 
   - mkdir -p /tmp/ws/src
   - ln -s `pwd` /tmp/ws/src/package
   - cd /tmp/ws
-  - rosdep install --from-paths src --ignore-src --rosdistro hydro -y
+  - rosdep install --from-paths src --ignore-src --rosdistro indigo -y
 
 script:
-  - source /opt/ros/hydro/setup.bash
+  - source /opt/ros/indigo/setup.bash
   - catkin_make
   - catkin_make install
diff --git a/src/usb_cam.cpp b/src/usb_cam.cpp
index 1e031e8f..f9eeea01 100644
--- a/src/usb_cam.cpp
+++ b/src/usb_cam.cpp
@@ -383,19 +383,19 @@ int UsbCam::init_mjpeg_decoder(int image_width, int image_height)
   avframe_rgb_ = av_frame_alloc();
 #endif
 
-  avpicture_alloc((AVPicture *)avframe_rgb_, PIX_FMT_RGB24, image_width, image_height);
+  avpicture_alloc((AVPicture *)avframe_rgb_, AV_PIX_FMT_RGB24, image_width, image_height);
 
   avcodec_context_->codec_id = AV_CODEC_ID_MJPEG;
   avcodec_context_->width = image_width;
   avcodec_context_->height = image_height;
 
 #if LIBAVCODEC_VERSION_MAJOR > 52
-  avcodec_context_->pix_fmt = PIX_FMT_YUV422P;
+  avcodec_context_->pix_fmt = AV_PIX_FMT_YUV422P;
   avcodec_context_->codec_type = AVMEDIA_TYPE_VIDEO;
 #endif
 
-  avframe_camera_size_ = avpicture_get_size(PIX_FMT_YUV422P, image_width, image_height);
-  avframe_rgb_size_ = avpicture_get_size(PIX_FMT_RGB24, image_width, image_height);
+  avframe_camera_size_ = avpicture_get_size(AV_PIX_FMT_YUV422P, image_width, image_height);
+  avframe_rgb_size_ = avpicture_get_size(AV_PIX_FMT_RGB24, image_width, image_height);
 
   /* open it */
   if (avcodec_open2(avcodec_context_, avcodec_, &avoptions_) < 0)
@@ -445,13 +445,13 @@ void UsbCam::mjpeg2rgb(char *MJPEG, int len, char *RGB, int NumPixels)
     return;
   }
 
-  video_sws_ = sws_getContext(xsize, ysize, avcodec_context_->pix_fmt, xsize, ysize, PIX_FMT_RGB24, SWS_BILINEAR, NULL,
+  video_sws_ = sws_getContext(xsize, ysize, avcodec_context_->pix_fmt, xsize, ysize, AV_PIX_FMT_RGB24, SWS_BILINEAR, NULL,
 			      NULL,  NULL);
   sws_scale(video_sws_, avframe_camera_->data, avframe_camera_->linesize, 0, ysize, avframe_rgb_->data,
             avframe_rgb_->linesize);
   sws_freeContext(video_sws_);
 
-  int size = avpicture_layout((AVPicture *)avframe_rgb_, PIX_FMT_RGB24, xsize, ysize, (uint8_t *)RGB, avframe_rgb_size_);
+  int size = avpicture_layout((AVPicture *)avframe_rgb_, AV_PIX_FMT_RGB24, xsize, ysize, (uint8_t *)RGB, avframe_rgb_size_);
   if (size != avframe_rgb_size_)
   {
     ROS_ERROR("webcam: avpicture_layout error: %d", size);