diff --git a/.docker/ci/Dockerfile b/.docker/ci/Dockerfile
index de2a963dc3..02b21d1452 100644
--- a/.docker/ci/Dockerfile
+++ b/.docker/ci/Dockerfile
@@ -1,50 +1,30 @@
-# moveit/moveit:melodic-ci
-# Sets up a base image to use for running Continuous Integration on Travis
+FROM ros:crystal-ros-base-bionic
 
-FROM ros:melodic-ros-base
-MAINTAINER Dave Coleman dave@picknik.ai
+MAINTAINER Lander Usategui  <lander@erlerobotics.com>
 
-ENV TERM xterm
+ENV ROS_DISTRO crystal
+WORKDIR /ros2_ws
 
-# Setup catkin workspace
-ENV CATKIN_WS=/root/ws_moveit
-WORKDIR $CATKIN_WS
-
-# Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
-# https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
 RUN \
-    mkdir src && \
-    cd src && \
-    #
-    # Download moveit source, so that we can get necessary dependencies
-    wstool init --shallow . https://raw.githubusercontent.com/ros-planning/moveit/${ROS_DISTRO}-devel/moveit.rosinstall && \
-    #
-    # Update apt package list as previous containers clear the cache
-    apt-get -qq update && \
-    apt-get -qq dist-upgrade && \
-    #
-    # Install some base dependencies
-    apt-get -qq install -y \
-        # Some source builds require a package.xml be downloaded via wget from an external location
+    apt-get update && apt-get install -y \
+        python3-colcon-common-extensions \
+        libboost-all-dev \
+        libglew-dev \
+        freeglut3-dev \
+        pkg-config \
+        libfcl-dev \
+        libassimp-dev \
+        libqhull-dev \
+        ros-$ROS_DISTRO-action-msgs \
+        ros-$ROS_DISTRO-resource-retriever \
+        ros-$ROS_DISTRO-image-transport \
+        python3-vcstool \
+        libopencv-dev \
         wget \
-        # Required for rosdep command
-        sudo \
-        # Preferred build tools
-        python-catkin-tools \
-        clang clang-format-3.9 clang-tidy clang-tools \
-        ccache && \
-    #
-    # Download all dependencies of MoveIt!
-    rosdep update && \
-    rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
-    #
-    # Remove the source code from this container
-    # TODO: in the future we may want to keep this here for further optimization of later containers
-    cd .. && \
-    rm -rf src/ && \
-    #
-    # Clear apt-cache to reduce image size
-    rm -rf /var/lib/apt/lists/*
-
-# Continous Integration Setting
-ENV IN_DOCKER 1
+        && rm -rf /var/lib/apt/lists/* \
+    # Setup ROS2 workspace
+    && mkdir -p /ros2_ws/src && cd /ros2_ws \ 
+    && wget https://raw.githubusercontent.com/AcutronicRobotics/moveit2/master/external-repos.repos \
+    && vcs import src < external-repos.repos
+COPY ./docker-entrypoint.sh /
+ENTRYPOINT ["/docker-entrypoint.sh"]
diff --git a/.docker/ci/docker-entrypoint.sh b/.docker/ci/docker-entrypoint.sh
new file mode 100755
index 0000000000..06f8297c05
--- /dev/null
+++ b/.docker/ci/docker-entrypoint.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+set -e
+
+/bin/bash -c "find /opt/ros/crystal/ -name tf2_eigen | xargs rm -rf && source /opt/ros/crystal/setup.bash \
+	      && touch /ros2_ws/src/image_common/camera_calibration_parsers/COLCON_IGNORE \
+              && touch /ros2_ws/src/image_common/camera_info_manager/COLCON_IGNORE \
+              && colcon build --merge-install"
diff --git a/.travis.yml b/.travis.yml
index 050c7646d1..d29acb2dc4 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,43 +1,27 @@
-# This config file for Travis CI utilizes https://github.com/ros-planning/moveit_ci/ package.
-sudo: required
-dist: xenial  # distro used by Travis, moveit_ci uses the docker image's distro
-services:
-  - docker
-language: cpp
-cache: ccache
-compiler: gcc
-
 notifications:
   email:
     recipients:
-      - 130s@2000.jukuin.keio.ac.jp
-env:
-  global:
-    - MOVEIT_CI_TRAVIS_TIMEOUT=85  # Travis grants us 90 min, but we add a safety margin of 5 min
-    - ROS_DISTRO=melodic
-    - ROS_REPO=ros
-    - UPSTREAM_WORKSPACE=moveit.rosinstall
-    - TEST_BLACKLIST=moveit_ros_perception  # mesh_filter_test fails due to broken Mesa OpenGL
-    - WARNINGS_OK=false
-  matrix:
-    - TEST="clang-format catkin_lint"
-    - TEST=clang-tidy-fix
-    - ROS_DISTRO=melodic
-    - ROS_DISTRO=kinetic
+      - lander@erlerobotics.com
+      - anasarrak@erlerobotics.com
 
-matrix: # Add a separate config to the matrix, using clang as compiler
+matrix:
   include:
-    # add a config to the matrix using clang as compiler and also test ikfast plugin creation
-    - compiler: clang
-      env: ROS_REPO=ros-shadow-fixed
-           BEFORE_DOCKER_SCRIPT="source moveit_kinematics/test/test_ikfast_plugins.sh"
-
-  fast_finish: true  # finish, even if allow-failure-tests still running
-  allow_failures:
-    - env: TEST=clang-tidy-fix  # need to fix clang-tidy issues
+    - os: linux
+      dist: bionic
+      services:
+        - docker
+      sudo:
+        - required
+    - os: osx
+      osx_image: xcode10.1
 
 before_script:
-  - git clone -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci
+  - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then bash ./osx-dependencies.sh; fi
+  - mkdir /tmp/moveit2
+  - mv * /tmp/moveit2
+  - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then cd .docker/ci; fi
 
 script:
-  - .moveit_ci/travis.sh
+  - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then docker build -t acutronicrobotics/moveit2 .; fi
+  - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then docker run -v /tmp/moveit2:/ros2_ws/src/moveit2 acutronicrobotics/moveit2; fi
+  - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then bash /tmp/moveit2/osx-compile.sh; fi
diff --git a/external-repos.repos b/external-repos.repos
new file mode 100644
index 0000000000..81dc33a806
--- /dev/null
+++ b/external-repos.repos
@@ -0,0 +1,61 @@
+repositories:
+  moveit_msgs:
+    type: git
+    url: https://github.com/AcutronicRobotics/moveit_msgs
+    version: ros2
+  geometry2:
+    type: git
+    url: https://github.com/AcutronicRobotics/geometry2
+    version: master
+  geometric_shapes:
+    type: git
+    url: https://github.com/AcutronicRobotics/geometric_shapes
+    version: ros2
+  eigen_stl_containers:
+    type: git
+    url: https://github.com/AcutronicRobotics/eigen_stl_containers
+    version: ros2
+  object_recognition_msgs:
+    type: git
+    url: https://github.com/AcutronicRobotics/object_recognition_msgs
+    version: master
+  octomap_msgs:
+    type: git
+    url: https://github.com/AcutronicRobotics/octomap_msgs
+    version: ros2
+  random_numbers:
+    type: git
+    url: https://github.com/AcutronicRobotics/random_numbers
+    version: ros2
+  srdfdom:
+    type: git
+    url: https://github.com/AcutronicRobotics/srdfdom
+    version: ros2
+  urdf_parser_py:
+    type: git
+    url: https://github.com/AcutronicRobotics/urdf_parser_py
+    version: ros2
+  octomap:
+    type: git
+    url: https://github.com/AcutronicRobotics/octomap
+    version: ros2
+  moveit_resources:
+    type: git
+    url: https://github.com/AcutronicRobotics/moveit_resources
+    version: master
+  console_bridge_vendor:
+    type: git
+    url: https://github.com/ros2/console_bridge_vendor
+    version: crystal
+  ros1_bridge:
+    type: git
+    url: https://github.com/ros2/ros1_bridge
+    version: master
+  image_common:
+    type: git
+    url: https://github.com/ros-perception/image_common
+    version: ros2
+  angles:
+    type: git
+    url: https://github.com/ros/angles
+    version: ros2
diff --git a/osx-compile.sh b/osx-compile.sh
new file mode 100644
index 0000000000..27687ea766
--- /dev/null
+++ b/osx-compile.sh
@@ -0,0 +1,22 @@
+#!/bin/bash
+
+#set -x #Debug
+set -e #exit on failure
+
+#Prepare for ros2
+cd /tmp
+wget https://github.com/ros2/ros2/releases/download/release-crystal-20190214/ros2-crystal-20190214-macos-amd64.tar.bz2
+tar jxf ros2-crystal-20190214-macos-amd64.tar.bz2
+# Remove tf2_eigen
+find ros2-osx/ -name tf2_eigen | xargs rm -rf
+
+source ros2-osx/setup.bash
+mkdir -p /tmp/ros2_ws/src
+cp -r /tmp/moveit2 /tmp/ros2_ws/src
+cd /tmp/ros2_ws && wget https://raw.githubusercontent.com/AcutronicRobotics/moveit2/master/external-repos.repos
+vcs import src < external-repos.repos
+export OPENSSL_ROOT_DIR="/usr/local/opt/openssl"
+#Ignore packages
+touch src/image_common/camera_calibration_parsers/COLCON_IGNORE
+touch src/image_common/camera_info_manager/COLCON_IGNORE
+colcon build --merge-install
diff --git a/osx-dependencies.sh b/osx-dependencies.sh
new file mode 100644
index 0000000000..29bcd37a94
--- /dev/null
+++ b/osx-dependencies.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+
+#FROM https://index.ros.org/doc/ros2/Installation/OSX-Development-Setup/
+
+brew doctor
+brew install cppcheck pcre poco tinyxml openssl asio tinyxml2 log4cxx assimp qhull boost fcl freeglut glew
+python3 -m pip install argcomplete catkin_pkg colcon-common-extensions coverage empy flake8 flake8-blind-except \
+flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes \
+git+https://github.com/lark-parser/lark.git@0.7d mock nose pep8 pydocstyle pyparsing setuptools vcstool