diff --git a/.travis.yml b/.travis.yml
index 81fe20c80..e95c34e4a 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,6 +1,9 @@
+sudo: true
 language: c++
-sudo: required
-dist: trusty
+python:
+  - "2.7"
+compiler:
+  - gcc
 services:
   - docker
 notifications:
@@ -13,26 +16,17 @@ env:
     - secure: "REUwDilheEXGFShSdFNgQ1rRAFBw2QG2eT8XDAQsDFyhPfCnjGDA1Ak25TbVIz4a02M9/hDP4QtsXFj6VRHVs4tV55zrGeLea06+Fw8vjHEICYVtfzYYvZB3pHnWoxxPUcQTU+CgTMGV3lLSupMgvyNNY8J6UdaiW8+Oj7icHc4="
     - ROSWS=wstool
     - BUILDER=catkin
-    - USE_DOCKER=true
     - CATKIN_PARALLEL_TEST_JOBS="-j1 -p1"
     - ROS_PARALLEL_TEST_JOBS="-j1"
   matrix:
-    - ROS_DISTRO=hydro   USE_DEB=true
-    - ROS_DISTRO=hydro   USE_DEB=false
-    - ROS_DISTRO=indigo  USE_DEB=true  EXTRA_DEB="ros-indigo-pr2-gazebo"
-    - ROS_DISTRO=indigo  USE_DEB=false
-    - ROS_DISTRO=jade    USE_DEB=true
-    - ROS_DISTRO=jade    USE_DEB=false
-    - ROS_DISTRO=kinetic USE_DEB=true
-    - ROS_DISTRO=kinetic USE_DEB=false
+    - ROS_DISTRO=hydro   USE_DEB=true USE_DOCKER=true
+    - ROS_DISTRO=indigo  USE_DEB=true USE_DOCKER=true EXTRA_DEB="ros-indigo-pr2-gazebo"
+    - ROS_DISTRO=jade    USE_DEB=true USE_JENKINS=true
+    - ROS_DISTRO=kinetic USE_DEB=true USE_JENKINS=true TEST_PKGS="pr2eus" # skip pr2eus_moveit pr2eus_tutorials
 matrix:
   fast_finish: true
   allow_failures:
     - env: ROS_DISTRO=hydro   USE_DEB=true
-    - env: ROS_DISTRO=hydro   USE_DEB=false
-    - env: ROS_DISTRO=indigo  USE_DEB=false
-    - env: ROS_DISTRO=jade    USE_DEB=false
-    - env: ROS_DISTRO=kinetic USE_DEB=false
 script: source .travis/travis.sh
 after_success:
   - TRAVIS_JOB_SUBNUMBER="${TRAVIS_JOB_NUMBER##*.}"
diff --git a/pr2eus/package.xml b/pr2eus/package.xml
index 5bd9ac075..83bf1d943 100644
--- a/pr2eus/package.xml
+++ b/pr2eus/package.xml
@@ -11,7 +11,6 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>roseus</build_depend>
-  <build_depend>rostest</build_depend>
   <build_depend>euscollada</build_depend>
   <build_depend>pr2_msgs</build_depend>
   <build_depend>pr2_controllers_msgs</build_depend>
@@ -25,7 +24,6 @@
   <build_depend>rosgraph_msgs</build_depend>
 
   <run_depend>roseus</run_depend>
-  <run_depend>rostest</run_depend>
   <run_depend>euscollada</run_depend>
   <run_depend>pr2_msgs</run_depend>
   <run_depend>pr2_controllers_msgs</run_depend>
@@ -37,6 +35,11 @@
   <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>sound_play</run_depend>
 
+  <!-- Dependencies needed only for running tests. -->
+  <test_depend>rostest</test_depend>
+  <test_depend>pr2_gazebo</test_depend>
+  <test_depend>robot_state_publisher</test_depend>
+
   <export>
     <pr2eus robot-name="pr2" interface-file="${prefix}/pr2-interface.l" />
   </export>
diff --git a/pr2eus/pr2-interface.l b/pr2eus/pr2-interface.l
index a2b5494dc..d012c3398 100644
--- a/pr2eus/pr2-interface.l
+++ b/pr2eus/pr2-interface.l
@@ -79,7 +79,6 @@
                                     pr2_controllers_msgs::Pr2GripperCommandAction
                                     :groupname groupname))
    ;; wait for pr2-action server (except move_base)
-   (setq joint-action-enable t)
    (dolist (action (list r-gripper-action l-gripper-action))
      (unless (and joint-action-enable (send action :wait-for-server 3))
        (setq joint-action-enable nil)
diff --git a/pr2eus/test/pr2-ri-test.l b/pr2eus/test/pr2-ri-test.l
index 140d1ffd7..9d0a6d161 100644
--- a/pr2eus/test/pr2-ri-test.l
+++ b/pr2eus/test/pr2-ri-test.l
@@ -1,13 +1,17 @@
 (require :unittest "lib/llib/unittest.l")
 (load "package://pr2eus/pr2-interface.l")
 
-(init-unit-test)
-
 (setq *pr2* (pr2))
 
 (while (or (not (boundp '*ri*)) (send *ri* :simulation-modep))
   (setq *ri* (instance pr2-interface :init)))
 
+(when (send *ri* :simulation-modep)
+  (ros::ros-warn "*ri* is running with simulation mode, something goes wrong ....")
+  (sys::exit 1))
+
+(init-unit-test)
+
 (deftest test-wait-interpolation
   (ros::ros-info "send reset-pose and wait-interpolation")
   (assert (send *pr2* :reset-pose))
diff --git a/pr2eus/test/pr2-ri-test.launch b/pr2eus/test/pr2-ri-test.launch
index d87a2f102..4e65e13a3 100644
--- a/pr2eus/test/pr2-ri-test.launch
+++ b/pr2eus/test/pr2-ri-test.launch
@@ -4,8 +4,9 @@
   <!-- include file="$(find gazebo_worlds)/launch/empty_world_paused.launch" -->
   <!-- set use_sim_time flag -->
   <param name="/use_sim_time" value="true" />
-  <env name="DISPLAY" value=":0.0" />
   <arg name="gui" default="false"/>
+  <env name="DISPLAY" value=":0.0" if="$(arg gui)"/>
+  <env name="DISPLAY" value="" unless="$(arg gui)"/>
 
   <!-- start empty world -->
   <node name="gazebo" pkg="gazebo_ros" type="gzserver" args="-r worlds/empty.world" respawn="true" output="screen"/>
@@ -15,8 +16,10 @@
 
   <!-- start pr2 robot -->
   <include file="$(find pr2_gazebo)/launch/pr2.launch"/>
+  <param name="/l_gripper_controller/gripper_action_node/stall_velocity_threshold" value="1.0" /> <!-- 0.33 -->
+  <param name="/r_gripper_controller/gripper_action_node/stall_velocity_threshold" value="1.0" />
 
   <!-- start test -->
-  <test test-name="pr2_ri_test" pkg="roseus" type="roseus"
-	args="$(find pr2eus)/test/pr2-ri-test.l" time-limit="1800" />
+  <test test-name="pr2_ri_test" pkg="roseus" type="roseus" retry="5"
+	args="$(find pr2eus)/test/pr2-ri-test.l" time-limit="300" />
 </launch>