diff --git a/.travis.yml b/.travis.yml
new file mode 100644
index 0000000..6e885c8
--- /dev/null
+++ b/.travis.yml
@@ -0,0 +1,18 @@
+# Copyright 2016 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+sudo: required
+services: docker
+install: true
+script: docker build ${TRAVIS_BUILD_DIR} -t cartographer_ros
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..f95ca98
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,18 @@
+# Copyright 2016 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+FROM ros:indigo
+COPY . cartographer_ros
+RUN cartographer_ros/scripts/install.sh
+COPY scripts/ros_entrypoint.sh /
diff --git a/README.rst b/README.rst
index 5981907..425bcdd 100644
--- a/README.rst
+++ b/README.rst
@@ -12,16 +12,11 @@
    See the License for the specific language governing permissions and
    limitations under the License.
 
-.. Cartographer documentation master file, created by
-   sphinx-quickstart on Fri Jul  8 10:41:33 2016.
-   You can adapt this file completely to your liking, but it should at least
-   contain the root `toctree` directive.
-
 ============================
 Cartographer ROS Integration
 ============================
 
-|docs|
+|build| |docs|
 
 Purpose
 =======
@@ -49,6 +44,11 @@ at our `Contribution page`_.
 
 .. _Contribution page: https://github.com/googlecartographer/cartographer_ros/blob/master/CONTRIBUTING.md
 
+.. |build| image:: https://travis-ci.org/googlecartographer/cartographer_ros.svg?branch=master
+    :alt: Build Status
+    :scale: 100%
+    :target: https://travis-ci.org/googlecartographer/cartographer_ros
+
 .. |docs| image:: https://readthedocs.org/projects/google-cartographer-ros/badge/?version=latest
     :alt: Documentation Status
     :scale: 100%
diff --git a/cartographer_ros/CMakeLists.txt b/cartographer_ros/CMakeLists.txt
index bcaf75e..f80d938 100644
--- a/cartographer_ros/CMakeLists.txt
+++ b/cartographer_ros/CMakeLists.txt
@@ -54,12 +54,6 @@ link_directories(${CARTOGRAPHER_LIBRARY_DIRS})
 find_package(ZLIB REQUIRED)
 include_directories(${ZLIB_INCLUDE_DIRS})
 
-# TODO(pedrofernandez): CMake test rules are written differently in the core
-# library. Change the way it's done here and reenable testing.
-# enable_testing()
-# find_package(GTest REQUIRED)
-# include_directories(${GTEST_INCLUDE_DIRS})
-
 set(CMAKE_AUTOMOC ON)
 if(rviz_QT_VERSION VERSION_LESS "5")
   message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
@@ -119,7 +113,7 @@ add_dependencies(cartographer_rviz_submaps_visualization
   ${catkin_EXPORTED_TARGETS}
 )
 
-add_executable(time_conversion_test
+catkin_add_gtest(time_conversion_test
   src/time_conversion_test.cc
   src/time_conversion.h
   src/time_conversion.cc
@@ -135,8 +129,6 @@ add_dependencies(time_conversion_test
   ${catkin_EXPORTED_TARGETS}
 )
 
-add_test(time_conversion_test time_conversion_test)
-
 install(DIRECTORY launch/
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch/
 )
diff --git a/cartographer_ros/package.xml b/cartographer_ros/package.xml
index a935e7a..8597fcd 100644
--- a/cartographer_ros/package.xml
+++ b/cartographer_ros/package.xml
@@ -24,14 +24,19 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>g++-static</build_depend>
+  <build_depend>wget</build_depend>  <!-- for glog -->
   <build_depend>cartographer</build_depend>
   <build_depend>eigen_conversions</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>cartographer_ros_msgs</build_depend>
+  <build_depend>libgflags-dev</build_depend>
   <build_depend>libpcl-all-dev</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>nav_msgs</build_depend>
   <build_depend>pcl_conversions</build_depend>
+  <build_depend>protobuf-dev</build_depend>
+  <build_depend>python-sphinx</build_depend>
   <build_depend>qtbase5-dev</build_depend>
   <build_depend>rosbag</build_depend>
   <build_depend>roscpp</build_depend>
@@ -39,6 +44,7 @@
   <build_depend>rviz</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>suitesparse</build_depend>
   <build_depend>tf2</build_depend>
   <build_depend>tf2_eigen</build_depend>
   <build_depend>visualization_msgs</build_depend>
@@ -46,6 +52,7 @@
   <run_depend>eigen_conversions</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>cartographer_ros_msgs</run_depend>
+  <run_depend>libgflags-dev</run_depend>
   <run_depend>libpcl-all</run_depend>
   <run_depend>libqt5-core</run_depend>
   <run_depend>libqt5-gui</run_depend>
@@ -59,10 +66,13 @@
   <run_depend>rviz</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>std_msgs</run_depend>
+  <run_depend>suitesparse</run_depend>
   <run_depend>tf2_eigen</run_depend>
   <run_depend>tf2</run_depend>
   <run_depend>visualization_msgs</run_depend>
 
+  <test_depend>rosunit</test_depend>
+
   <export>
       <rviz plugin="${prefix}/rviz_plugin_description.xml"/>
   </export>
diff --git a/scripts/install.sh b/scripts/install.sh
new file mode 100755
index 0000000..e7d73b5
--- /dev/null
+++ b/scripts/install.sh
@@ -0,0 +1,58 @@
+#!/bin/sh
+
+# Copyright 2016 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set -o errexit
+set -o verbose
+
+. /opt/ros/${ROS_DISTRO}/setup.sh
+
+# Create a new workspace in 'catkin_ws'.
+mkdir catkin_ws
+cd catkin_ws
+wstool init
+
+# Merge the cartographer_ros rosinstall file and fetch code for dependencies.
+wstool merge ../cartographer_ros/cartographer_ros.rosinstall
+wstool update
+
+# Use the local version of cartographer_ros to include local modifications.
+rm -rf src/cartographer_ros
+mv ../cartographer_ros src
+
+# Install deb dependencies.
+sudo apt-get update
+sudo apt-get install -y libwebp-dev  # TODO(whess): Move to rosdep.
+rosdep update
+rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
+rm -rf /var/lib/apt/lists/*
+
+# Build and run tests.
+catkin_make_isolated
+catkin_make_isolated --catkin-make-args tests
+catkin_make_isolated --catkin-make-args test
+
+# TODO(whess): Fix installing cartographer_ros. For now we use a workaround:
+echo Working around install issues...
+mkdir /opt/cartographer_ros
+ln -Tsf ${PWD}/devel_isolated/setup.bash /opt/cartographer_ros/setup.bash
+exit
+
+# Install under /opt/cartographer_ros.
+catkin_make_isolated --install-space /opt/cartographer_ros --install
+
+# Clean up.
+cd ..
+rm -rf catkin_ws
diff --git a/scripts/ros_entrypoint.sh b/scripts/ros_entrypoint.sh
new file mode 100755
index 0000000..1c63688
--- /dev/null
+++ b/scripts/ros_entrypoint.sh
@@ -0,0 +1,22 @@
+#!/bin/bash
+
+# Copyright 2016 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set -o errexit
+set -o verbose
+
+source "/opt/ros/${ROS_DISTRO}/setup.bash"
+source "/opt/cartographer_ros/setup.bash"
+exec "$@"