diff --git a/.travis.scripts/install_deps.sh b/.travis.scripts/install_deps.sh
new file mode 100755
index 0000000..ae0cd24
--- /dev/null
+++ b/.travis.scripts/install_deps.sh
@@ -0,0 +1,24 @@
+#!/bin/bash
+
+set -o errexit
+set -o verbose
+
+scriptdir=`dirname "${0}"`
+
+source /opt/ros/${ROS_DISTRO}/setup.bash
+source /catkin_ws/devel/setup.bash
+
+cd /catkin_ws
+
+SKIP_KEYS=
+if [ -f $scriptdir/rosdepkeys.skip ];
+then
+  SKIP_KEYS="--skip-keys=\"$(cat $scriptdir/rosdepkeys.skip | tr '\n' ' ' | sed 's/\s*$//g')\""
+fi
+
+echo $SKIP_KEYS
+
+apt-get -qq update
+eval rosdep install --from-paths src --ignore-src $SKIP_KEYS --rosdistro=${ROS_DISTRO} -y
+apt-get clean
+rm -rf /var/lib/apt/lists/*
diff --git a/.travis.scripts/load_cache.sh b/.travis.scripts/load_cache.sh
index f2bc21c..4024e5b 100755
--- a/.travis.scripts/load_cache.sh
+++ b/.travis.scripts/load_cache.sh
@@ -3,12 +3,4 @@
 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
-
+docker pull ${DOCKER_CACHE_REGISTRY}:${ROS_DISTRO_TARGET} || true
diff --git a/.travis.scripts/rosdepkeys.skip b/.travis.scripts/rosdepkeys.skip
new file mode 100644
index 0000000..f1f1b3f
--- /dev/null
+++ b/.travis.scripts/rosdepkeys.skip
@@ -0,0 +1,3 @@
+ypspur
+ros-kinetic-ypspur
+ros-indigo-ypspur
diff --git a/.travis.scripts/save_cache.sh b/.travis.scripts/save_cache.sh
index d413ceb..1e46fd4 100755
--- a/.travis.scripts/save_cache.sh
+++ b/.travis.scripts/save_cache.sh
@@ -5,11 +5,7 @@ set -o verbose
 
 if [[ ${TRAVIS_BRANCH} == "master" ]] && [[ ${TRAVIS_PULL_REQUEST} == "false" ]];
 then
-	mkdir -p $(dirname ${DOCKER_CACHE_FILE})
-	docker save $(echo ${DOCKER_CACHE_TARGETS} | xargs -n1 docker history -q | grep -v '<missing>' | sort | uniq) | lz4 -zcf - > ${DOCKER_CACHE_FILE}
-
-	echo "------------"
-	ls -lh $(dirname ${DOCKER_CACHE_FILE})
-	echo "------------"
+  docker tag ${DOCKER_CACHE_TARGET}:${ROS_DISTRO_TARGET} ${DOCKER_CACHE_REGISTRY}:${ROS_DISTRO_TARGET}
+  docker login -u ${DOCKER_HUB_USER} -p ${DOCKER_HUB_TOKEN}
+	docker push ${DOCKER_CACHE_REGISTRY}:${ROS_DISTRO_TARGET}
 fi
-
diff --git a/.travis.scripts/setup_docker.sh b/.travis.scripts/setup_docker.sh
deleted file mode 100755
index c04ca6c..0000000
--- a/.travis.scripts/setup_docker.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/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
index e9ca528..228f43c 100755
--- a/.travis.scripts/test.sh
+++ b/.travis.scripts/test.sh
@@ -5,8 +5,7 @@ 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
+pip install gh-pr-comment
 
 source /opt/ros/${ROS_DISTRO}/setup.bash
 
@@ -25,10 +24,10 @@ fi
 
 echo $SKIP_KEYS
 
-apt-get -qq update && \
-apt-get install libxml2-utils && \
-rosdep install --from-paths src --ignore-src $SKIP_KEYS --rosdistro=${ROS_DISTRO} -y && \
-apt-get clean && \
+apt-get -qq update
+apt-get install libxml2-utils
+eval rosdep install --from-paths src --ignore-src $SKIP_KEYS --rosdistro=${ROS_DISTRO} -y
+apt-get clean
 rm -rf /var/lib/apt/lists/*
 
 CMI_OPTION="--install-space /opt/ros/${ROS_DISTRO} --install"
@@ -62,4 +61,3 @@ gh-pr-comment "PASSED on ${ROS_DISTRO}" "All tests passed$result_text"
 
 cd ..
 rm -rf /catkin_ws || true
-
diff --git a/.travis.yml b/.travis.yml
index 9925a67..52695b9 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -7,20 +7,21 @@ cache:
 env:
   global:
     - PACKAGE_NAME=ypspur_ros
-    - DOCKER_CACHE_FILE=/home/travis/docker/cache.tar.lz4
-    - DOCKER_CACHE_TARGETS="${PACKAGE_NAME}:latest ${PACKAGE_NAME}:indigo"
+    - DOCKER_CACHE_TARGET=ypspurros
+    - DOCKER_CACHE_REGISTRY=atwat/ros-ypspurros-cache
+  matrix:
+    - ROS_DISTRO_TARGET=kinetic
+    - ROS_DISTRO_TARGET=indigo
 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} --build-arg PACKAGE_NAME=${PACKAGE_NAME}
-  - docker build -t ${PACKAGE_NAME}:indigo -f Dockerfile.indigo --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} --build-arg PACKAGE_NAME=${PACKAGE_NAME}
+  - docker build --cache-from ${DOCKER_CACHE_REGISTRY}:${ROS_DISTRO_TARGET} -t ${DOCKER_CACHE_TARGET}:${ROS_DISTRO_TARGET} -f Dockerfile.${ROS_DISTRO_TARGET} --pull=true ${TRAVIS_BUILD_DIR}
+  - docker run --rm -it  -e TRAVIS_PULL_REQUEST=${TRAVIS_PULL_REQUEST} -e TRAVIS_PULL_REQUEST_SLUG=${TRAVIS_PULL_REQUEST_SLUG} -e TRAVIS_BOT_GITHUB_TOKEN=${TRAVIS_BOT_GITHUB_TOKEN} -e PACKAGE_NAME=${PACKAGE_NAME} ${DOCKER_CACHE_TARGET}:${ROS_DISTRO_TARGET} /catkin_ws/src/${PACKAGE_NAME}/.travis.scripts/test.sh
   - .travis.scripts/save_cache.sh
-
diff --git a/Dockerfile b/Dockerfile
deleted file mode 100644
index 8d59fae..0000000
--- a/Dockerfile
+++ /dev/null
@@ -1,19 +0,0 @@
-FROM ros:kinetic
-
-RUN apt-get -qq update && \
-	apt-get install -y --no-install-recommends sudo wget curl && \
-	apt-get clean && \
-	rm -rf /var/lib/apt/lists/*
-
-ARG TRAVIS_PULL_REQUEST=false
-ARG TRAVIS_REPO_SLUG=""
-ARG TRAVIS_BOT_GITHUB_TOKEN=""
-ARG PACKAGE_NAME=""
-
-ENV TRAVIS_PULL_REQUEST=$TRAVIS_PULL_REQUEST
-ENV TRAVIS_REPO_SLUG=$TRAVIS_REPO_SLUG
-ENV TRAVIS_BOT_GITHUB_TOKEN=$TRAVIS_BOT_GITHUB_TOKEN
-ENV PACKAGE_NAME=$PACKAGE_NAME
-
-COPY ./ /catkin_ws/src/${PACKAGE_NAME}
-RUN /catkin_ws/src/${PACKAGE_NAME}/.travis.scripts/test.sh
diff --git a/Dockerfile.indigo b/Dockerfile.indigo
index a506d82..a2ccb17 100644
--- a/Dockerfile.indigo
+++ b/Dockerfile.indigo
@@ -1,19 +1,22 @@
 FROM ros:indigo
 
-RUN apt-get -qq update && \
-	apt-get install -y --no-install-recommends sudo wget curl build-essential && \
-	apt-get clean && \
-	rm -rf /var/lib/apt/lists/*
+RUN apt-get -qq update \
+  && apt-get install -y --no-install-recommends \
+    build-essential \
+    curl \
+    python-pip \
+    sudo \
+    wget \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
 
-ARG TRAVIS_PULL_REQUEST=false
-ARG TRAVIS_REPO_SLUG=""
-ARG TRAVIS_BOT_GITHUB_TOKEN=""
-ARG PACKAGE_NAME=""
+RUN rosdep update \
+  && mkdir -p /catkin_ws/src \
+  && cd /catkin_ws/src \
+  && bash -c ". /opt/ros/${ROS_DISTRO}/setup.bash && catkin_init_workspace && cd .. && catkin_make"
 
-ENV TRAVIS_PULL_REQUEST=$TRAVIS_PULL_REQUEST
-ENV TRAVIS_REPO_SLUG=$TRAVIS_REPO_SLUG
-ENV TRAVIS_BOT_GITHUB_TOKEN=$TRAVIS_BOT_GITHUB_TOKEN
-ENV PACKAGE_NAME=$PACKAGE_NAME
+COPY ./.travis.scripts /catkin_ws/src/ypspur_ros/.travis.scripts
+COPY ./package.xml /catkin_ws/src/ypspur_ros/package.xml
+RUN /catkin_ws/src/ypspur_ros/.travis.scripts/install_deps.sh
 
-COPY ./ /catkin_ws/src/${PACKAGE_NAME}
-RUN /catkin_ws/src/${PACKAGE_NAME}/.travis.scripts/test.sh
+COPY ./ /catkin_ws/src/ypspur_ros
diff --git a/Dockerfile.kinetic b/Dockerfile.kinetic
new file mode 100644
index 0000000..308fdaa
--- /dev/null
+++ b/Dockerfile.kinetic
@@ -0,0 +1,21 @@
+FROM ros:kinetic
+
+RUN apt-get -qq update \
+  && apt-get install -y --no-install-recommends \
+    curl \
+    python-pip \
+    sudo \
+    wget \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN rosdep update \
+  && mkdir -p /catkin_ws/src \
+  && cd /catkin_ws/src \
+  && bash -c ". /opt/ros/${ROS_DISTRO}/setup.bash && catkin_init_workspace && cd .. && catkin_make"
+
+COPY ./.travis.scripts /catkin_ws/src/ypspur_ros/.travis.scripts
+COPY ./package.xml /catkin_ws/src/ypspur_ros/package.xml
+RUN /catkin_ws/src/ypspur_ros/.travis.scripts/install_deps.sh
+
+COPY ./ /catkin_ws/src/ypspur_ros