diff --git a/.travis.yml b/.travis.yml
index 5ed857b5822..bed7e75a313 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -21,5 +21,6 @@ env:
     - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=moveit.rosinstall
 before_script:
   - git clone -q https://github.com/ros-planning/moveit_ci.git .moveit_ci
+  - sed -i 's/catkin config/catkin config --blacklist test_tf2/' .moveit_ci/travis.sh
 script:
   - .moveit_ci/travis.sh
diff --git a/moveit.rosinstall b/moveit.rosinstall
index 6da65f6f6d5..4482f48ccbd 100644
--- a/moveit.rosinstall
+++ b/moveit.rosinstall
@@ -15,12 +15,18 @@
 - git:
     local-name: moveit_visual_tools
     uri: https://github.com/ros-planning/moveit_visual_tools.git
-    version: melodic-devel
+    version: melodic_isometry
 - git:
     local-name: geometric_shapes
-    uri: https://github.com/ros-planning/geometric_shapes.git
-    version: melodic-devel
+    uri: https://github.com/rhaschke/geometric_shapes.git
+    version: fix-affine-isometry
 - git:
     local-name: srdfdom
     uri: https://github.com/ros-planning/srdfdom.git
     version: melodic-devel
+
+# Required for Eigen::Isometry3d
+- git:
+    local-name: geometry2
+    uri: https://github.com/ros/geometry2.git
+    version: melodic-devel