diff --git a/.travis/after_failure b/.travis/after_failure
index 5662cf10..420f615f 100755
--- a/.travis/after_failure
+++ b/.travis/after_failure
@@ -1,5 +1,5 @@
 #!/bin/bash
-. .travis/common.sh
+. `dirname $0`/common.sh
 
 # Set debug mode
 set -x
@@ -13,8 +13,8 @@ if [ -d debian ]; then
     echo "Debian build failed"
 else
     if [ ! x${DIST} = x ]; then
-	echo "skipping this build"
-	exit 0
+      echo "skipping this build"
+      exit 0
     fi
 
     # Dump as much log as we can
diff --git a/.travis/after_success b/.travis/after_success
index e9602e65..f0a154ad 100755
--- a/.travis/after_success
+++ b/.travis/after_success
@@ -1,99 +1,128 @@
 #!/bin/bash
-. .travis/common.sh
+. `dirname $0`/common.sh
 
 # Set debug mode
 set -x
 set -v
 
-if [ -d debian ]; then
-    if `test x${DIST} = x`; then
-	echo "distribution is not set, skipping this build"
-	exit 0
-    fi
-    echo "Target distribution: ${DIST}"
+##############################
+#  --  Helper functions  --  #
+##############################
 
-    export GNUPGHOME="$root_dir/.travis/.gnupg"
-    # If the build is a success, upload the source package to Launchpad.
-    if `test x${DIST} = xunstable`; then
-	echo "Debian Sid package. Skipping Launchpad upload..."
+upload_to_ppa()
+{
+  if `test x${DIST} = x`; then
+    echo "distribution is not set, skipping this build"
+    exit 0
+  fi
+  echo "Target distribution: ${DIST}"
+
+  export GNUPGHOME="`dirname $0`/.gnupg"
+  # If the build is a success, upload the source package to Launchpad.
+  if `test x${DIST} = xunstable`; then
+    echo "Debian Sid package. Skipping Launchpad upload..."
+  else
+    if `! test ${CI_PULL_REQUEST} = false`; then
+      echo "skipping launchpad upload in pull request"
     else
-	if `! test ${TRAVIS_PULL_REQUEST} = false`; then
-	    echo "skipping launchpad upload in pull request"
-	else
-	    dput ppa:${PPA_URI} "$build_dir"/export/*_source.changes
-	fi
-    fi
-elif [[ ${TRAVIS_OS_NAME} = linux ]]; then
-    if [ ! x${DIST} = x ]; then
-	echo "skipping this build"
-	exit 0
+      dput ppa:${PPA_URI} "$build_dir"/export/*_source.changes
     fi
+  fi
+}
 
+generate_coverage_data()
+{
+  # Upload coveralls data.
+  if [ x${CC} = xgcc ]; then
+    cd $build_dir
+    # If tests failed, coveralls data may not have been written
+    lcov --directory $build_dir --base-directory $root_dir --capture --output-file coverage.info || true
+    # Note: ignore rules are given by a string such as "*test* *foo*"
+    # lcov expects: '*test*' '*foo*'
+    # We use -f to prevent expansion of *
+    set -f
+    lcov --remove coverage.info '/usr*' "$install_dir*" ${LCOV_IGNORE_RULES} -o coverage.info || true
+    set +f
     cd $root_dir
-    HEAD=`git rev-parse HEAD`
+    coveralls-lcov "$build_dir/coverage.info" || true
+    cd -
+  else
+    echo "skipping coveralls upload in non-gcc builds"
+  fi
+}
 
-    # Upload coveralls data.
-    if [ x${CC} = xgcc ]; then
-	cd $build_dir
-	# If tests failed, coveralls data may not have been written
-	lcov --directory $build_dir --base-directory $root_dir --capture --output-file coverage.info || true
-	lcov --remove coverage.info '/usr*' "$install_dir*" -o coverage.info || true
-	if `! test x${LCOV_IGNORE_RULES} = x`; then
-            # Note: ignore rules are given by a string such as "*test* *foo*"
-            # lcov expects: '*test*' '*foo*'
-            # We use -f to prevent expansion of *
-            set -f
-	    lcov --remove coverage.info ${LCOV_IGNORE_RULES} -o coverage.info || true
-            set +f
-	fi
-	cd $root_dir
-	coveralls-lcov "$build_dir/coverage.info" || true
-	cd -
-    else
-	echo "skipping coveralls upload in non-gcc builds"
+set_push_uri()
+{
+  # If GH_PUSH_URI has already been provided
+  if `test x${GH_PUSH_URI} != x`; then
+    export GH_PUSH_URI=${GH_PUSH_URI}
+  # If encrypted username/tokens were not provided
+  elif `test x${GH_TOKEN} = x -o x${GH_USERNAME} = x`; then
+      echo "missing username and/or token for GitHub push"
+      export GH_PUSH_URI=""
+  else
+    export GH_PUSH_URI=https://${GH_USERNAME}:${GH_TOKEN}@github.com/${GH_REPO}
+  fi
+  if `test x${GH_PUSH_URI} != x`; then
+    cd $root_dir
+    git remote set-url origin "${GH_PUSH_URI}"
+  fi
+  return 0
+}
+
+update_documentation()
+{
+  # If we are on the master branch:
+  if [[ ${CI_BRANCH} = master ]]; then
+    # Update the documentation.
+    # Retrieve last commit of the gh-pages branch.
+    if `git fetch --depth=1 origin gh-pages:gh-pages`; then
+      cd $build_dir/doc && $root_dir/cmake/github/update-doxygen-doc.sh \
+        -r $root_dir -b $build_dir
     fi
+  fi
+}
 
-    # If it's not a fork or a pull request
-    if `test x${TRAVIS_REPO_SLUG} = x${GH_REPO} -a ${TRAVIS_PULL_REQUEST} = false`; then
-	# If encrypted username/tokens were not provided
-	if `test x${GH_TOKEN} = x -o x${GH_USERNAME} = x`; then
-	    echo "missing username and/or token for GitHub push"
-	else
-	    cd $root_dir
-	    # Set the push capable URL.
-	    #
-	    # Add the possibility to use three variables instead of one to
-	    # work around string maximum length limitation issue.
-	    if `test x${GH_PUSH_URI} = x`; then
-		export GH_PUSH_URI=https://${GH_USERNAME}:${GH_TOKEN}@github.com/${GH_REPO}
-	    fi
-	    git remote set-url origin "${GH_PUSH_URI}"
+push_note()
+{
+  # Push git note indicating success
+  cd $root_dir
+  HEAD=`git rev-parse HEAD`
+  notes_msg="Successful build.\n----\n\nDependencies commit id:"
+  for package in ${GIT_DEPENDENCIES}; do
+    git_dependency_parsing $package
+    cd $build_dir/$git_dep
+    commitid=`git rev-parse HEAD || echo unknown`
+    notes_msg="${notes_msg} $git_dep : $commitid\n"
+  done
+  cd $root_dir
+  git fetch --quiet --force origin refs/notes/jrl-ci:refs/notes/jrl-ci || true
+  git notes --ref=jrl-ci add -f -m "$(echo "${notes_msg}")" $HEAD
+  git push origin refs/notes/jrl-ci --force
+}
 
-	    # If we are on the master branch:
-	    if [[ ${TRAVIS_BRANCH} = master ]]; then
-		# Update the documentation.
-		# Retrieve last commit of the gh-pages branch.
-		git fetch --depth=1 origin gh-pages:gh-pages
+#########################
+#  --  Main script  --  #
+#########################
 
-		cd $build_dir/doc && $root_dir/cmake/github/update-doxygen-doc.sh \
-					 -r $root_dir -b $build_dir
-	    fi
+if [ -d debian ]; then
+  upload_to_ppa
+elif [[ ${CI_OS_NAME} = linux ]]; then
+    if [ ! x${DIST} = x ]; then
+      echo "skipping this build"
+      exit 0
+    fi
 
-	    # Push git note indicating success
-	    cd $root_dir
-	    notes_msg="Successful build.\n----\n\nDependencies commit id:"
-	    for package in ${GIT_DEPENDENCIES}; do
-		cd $build_dir/$package
-		commitid=`git rev-parse HEAD || echo unknown`
-		notes_msg="${notes_msg} $package : $commitid\n"
-	    done
-	    cd $root_dir
-	    git fetch --quiet --force origin refs/notes/travis:refs/notes/travis || true
-	    git notes --ref=travis add -f -m "$(echo "${notes_msg}")" $HEAD
-	    git push origin refs/notes/travis --force
-	fi
+    generate_coverage_data
+    # If it's not a fork or a pull request
+    if `test x${CI_REPO_SLUG} = x${GH_REPO} -a ${CI_PULL_REQUEST} = false`; then
+      set_push_uri
+      if `test x${GH_PUSH_URI} != x`; then
+        update_documentation
+        push_note
+      fi
     else
-	echo "skipping doc/build result upload on forks and for pull requests"
+      echo "skipping doc/build result upload on forks and for pull requests"
     fi
 fi
 
diff --git a/.travis/appveyor.yml.in b/.travis/appveyor.yml.in
new file mode 100644
index 00000000..cb646339
--- /dev/null
+++ b/.travis/appveyor.yml.in
@@ -0,0 +1,42 @@
+version: 1.0.{build}
+os: Visual Studio 2015
+clone_folder: C:/devel-src/@PROJECT_NAME@
+# The following lines output the connection parameters for the RDE in AppVeyor
+# at the start of the build. Be advised that this may allow people to tinker
+# with your build
+# init:
+# - ps: iex ((new-object net.webclient).DownloadString('https://raw.githubusercontent.com/appveyor/ci/master/scripts/enable-rdp.ps1'))
+environment:
+  CI_OS_NAME: win32
+  CI_TOOL: appveyor
+# Dependencies should be a list of dependencies separated by ';'
+  CHOCO_DEPENDENCIES: @CHOCO_DEPENDENCIES@
+  GIT_DEPENDENCIES: @GIT_DEPENDENCIES@
+# Should be the same as clone_folder
+  PROJECT_SOURCE_DIR: C:/devel-src/@PROJECT_NAME@
+# Do not tinker with the variables below unless you know what you are doing
+  SOURCE_FOLDER: C:/devel-src
+  CMAKE_INSTALL_PREFIX: C:/devel
+  PATH: C:/devel/bin;C:\Libraries\boost_1_59_0\lib64-msvc-14.0;%PATH%
+  PKG_CONFIG_PATH: C:/devel/lib/pkgconfig
+  BOOST_ROOT: C:\Libraries\boost_1_59_0
+  BOOST_LIBRARYDIR: C:\Libraries\boost_1_59_0\lib64-msvc-14.0
+# N.B: empty lines here and in test_script are VERY important
+build_script:
+- ps: >-
+    Set-PSDebug -Trace 1
+
+    . ./.jrl-ci/functions.ps1
+
+    setup_build
+
+    ./.jrl-ci/dependencies/eigen-3.2.ps1
+
+    install_dependencies
+
+    build_project
+test_script:
+- cmd: >-
+    cd %PROJECT_SOURCE_DIR%
+
+    ctest
diff --git a/.travis/before_install b/.travis/before_install
index 085f016c..eaa5c897 100755
--- a/.travis/before_install
+++ b/.travis/before_install
@@ -2,186 +2,234 @@
 
 rm -rf "$build_dir" "$install_dir"
 
-. .travis/common.sh
+. `dirname $0`/common.sh
 
 # Set debug mode
 set -x
 set -v
 
-# Print Git version
-git --version
-
-# Setup Git identity.
-git config --global user.name "Thomas Moulard (Travis Automatic Builds)"
-git config --global user.email "thomas.moulard+travis@gmail.com"
-
-# Retrieve the submodules.
-git submodule update --quiet --init --recursive
-
-# Setup environment variables.
-export LD_LIBRARY_PATH="$install_dir/lib:$LD_LIBRARY_PATH"
-export PKG_CONFIG_PATH="$install_dir/lib/pkgconfig:$PKG_CONFIG_PATH"
+##############################
+#  --  Helper functions  --  #
+##############################
 
-if [[ ${TRAVIS_OS_NAME} = linux ]]; then
-    # Speed up apt
-    sudo sh -c "echo \"force-unsafe-io\" > /etc/dpkg/dpkg.cfg.d/02apt-speedup"
-
-    # Update the apt local cache.
-    sudo apt-get update -qq
-
-    export LD_LIBRARY_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`:$LD_LIBRARY_PATH"
-    export PKG_CONFIG_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`/pkgconfig:$PKG_CONFIG_PATH"
-fi
+_linux_setup_package_source()
+{
+  # Speed up apt
+  ${SUDO_CMD} sh -c "echo \"force-unsafe-io\" > /etc/dpkg/dpkg.cfg.d/02apt-speedup"
+  # Update the apt local cache.
+  ${SUDO_CMD} apt-get update -qq
+}
 
-# Fetch tags to compute the distance between the last release tag
-# and us.
-git fetch --quiet --tags
+_osx_setup_package_source()
+{
+  # Add science-related repos
+  brew tap homebrew/science
+  # Update homebrew
+  brew update
+}
 
-# Shortcuts.
-git_clone="git clone --quiet --recursive"
+# setup_package_source
+# ---------------------
+#
+# Setup the package source (e.g. homebrew on osx, apt on debian-like systems)
+setup_package_source()
+{
+  if [[ ${CI_OS_NAME} = linux ]]; then
+    _linux_setup_package_source
+  fi
+  if [[ ${CI_OS_NAME} = osx ]]; then
+    _osx_setup_package_source
+  fi
+}
 
-# Display environment
-echo "Environment:"
-env
+# setup_pbuilder
+# --------------
+#
+# Setup a pbuilder environment
+setup_pbuilder()
+{
+  if `test x${DIST} = x`; then
+      echo "distribution is not set, skipping this build"
+      exit 0
+  fi
+  echo "Target distribution: ${DIST}"
+
+  # If we are, we install Debian package development tools and
+  # create a sid pbuilder. Package dependencies will be installed
+  # automatically.
+  ${SUDO_CMD} apt-get install -qq        		\
+      debootstrap devscripts			\
+      git-buildpackage debian-archive-keyring \
+      pkg-kde-tools dput eatmydata ccache
+
+  # Fix ccache use in pbuilder
+  ${SUDO_CMD} addgroup --system --gid 1234 ccache
+  ${SUDO_CMD} adduser --quiet --system --uid 1234 --ingroup ccache \
+      --home /var/cache/pbuilder --no-create-home pbuilder
+  ${SUDO_CMD} mkdir -p /var/cache/pbuilder/ccache
+  ${SUDO_CMD} chown -R pbuilder:ccache /var/cache/pbuilder/ccache
+  ${SUDO_CMD} chmod -R g+ws /var/cache/pbuilder/ccache
+
+  # Remove previous sandbox.
+  ${SUDO_CMD} rm -rf /var/cache/pbuilder/base-${DIST}.cow || true
+
+  # Create a pbuilder sandbox.
+  cp -f `dirname $0`/pbuilderrc $HOME/.pbuilderrc
+  sed -i "s|@DIST@|${DIST}|g" $HOME/.pbuilderrc
+
+  git-pbuilder create
+
+  # Speed up pbuilder.
+  echo "echo \"force-unsafe-io\" > /etc/dpkg/dpkg.cfg.d/02apt-speedup" | \
+      git-pbuilder login --save-after-exec
+
+  # Add additional PPAs
+  for ppa in ${DEBIAN_PPA}; do
+      echo "apt-add-repository ppa:${ppa}" | \
+          git-pbuilder login --save-after-exec
+  done
+
+  # Retrieve PPA package list.
+  git-pbuilder update
+
+  # FIXME There is something fishy here...
+  # ccache is not necessary in our case and may cause permission
+  # issues.
+  echo "apt-get -y remove ccache" |        		\
+      git-pbuilder login --save-after-exec
+}
 
 # catkin_git_dependency
 # --------------------
 #
+# Clone catkin package into the workspace
+# See arguments of build_git_dependency
+# Branch defaults to $ROS_DISTRO instead of master
 catkin_git_dependency()
 {
-    _string=$1
-    git_dep=${_string%%:*}
-    git_dep_branch=${_string##*:}
-    # For ROS packages, the default version is named after the ROS distro.
-    if [ "$git_dep_branch" == "$git_dep" ]; then
-	git_dep_branch="$ROS_DISTRO"
-    fi
-    echo "--> Getting $git_dep (branch $git_dep_branch)"
-    CATKIN_WORKSPACE=$build_dir/..
-    cd $CATKIN_WORKSPACE/src
-    $git_clone -b $git_dep_branch "git://github.com/$git_dep" "$git_dep"
+  git_dependency_parsing $1 $ROS_DISTRO
+  echo "--> Getting $git_dep (branch $git_dep_branch)"
+  CATKIN_DEP_WORKSPACE=/tmp/_ci/catkin_dep_ws
+  cd $CATKIN_DEP_WORKSPACE/src
+  $git_clone -b $git_dep_branch "$git_dep_uri" "$git_dep"
 }
 
+# catkin_build_workspace
+# ----------------------
+#
+# Build catkin workspace
+catkin_build_workspace()
+{
+  CATKIN_DEP_WORKSPACE=/tmp/_ci/catkin_dep_ws
+  cd $CATKIN_DEP_WORKSPACE
+  catkin_make
+}
 
 # build_git_dependency
 # --------------------
 #
 # Build a dependency directly from the Git development tree.
-# First argument: repository's GitHub URL + optional branch
-# For example: "jrl-umi3218/jrl-travis" or "jrl-umi3218/jrl-travis:dev"
+# First argument: repository's GitHub URL or repository's URI + optional branch
+# For example: "jrl-umi3218/jrl-travis" or "jrl-umi3218/jrl-travis#dev"
+# Or: user@host:path/to/repo or git@github.com:organization/repo#branch
 build_git_dependency()
 {
-    _string=$1
-    git_dep=${_string%%:*}
-    git_dep_branch=${_string##*:}
-    if [ "$git_dep_branch" == "$git_dep" ]; then
-	git_dep_branch="master"
-    fi
-    echo "--> Compiling $git_dep (branch $git_dep_branch)"
-    mkdir -p "$build_dir/$git_dep"
-    cd "$build_dir"
-    $git_clone -b $git_dep_branch "git://github.com/$git_dep" "$git_dep"
-    cd "$build_dir/$git_dep"
-    cmake . -DCMAKE_INSTALL_PREFIX:STRING="$install_dir" \
-            -DDISABLE_TESTS:BOOL=ON
-    make install || make
+  git_dependency_parsing $1
+  echo "--> Compiling $git_dep (branch $git_dep_branch)"
+  cd "$build_dir"
+  mkdir -p "$git_dep"
+  $git_clone -b $git_dep_branch "$git_dep_uri" "$git_dep"
+  cd "$git_dep"
+  cmake . -DCMAKE_INSTALL_PREFIX:STRING="$install_dir" \
+          -DDISABLE_TESTS:BOOL=ON ${CMAKE_ADDITIONAL_OPTIONS}
+  make install || make
 }
 
+_osx_install_dependencies()
+{
+  # Install user-specified packages
+  brew install cppcheck ${HOMEBREW_DEPENDENCIES}
+}
+
+_linux_install_dependencies()
+{
+  # Add additional PPAs
+  for ppa in ${MASTER_PPA}; do
+    ${SUDO_CMD} add-apt-repository -y ppa:${ppa}
+  done
+  ${SUDO_CMD} apt-get update -qq
+
+  ${SUDO_CMD} apt-get install -qq curl cppcheck ${APT_DEPENDENCIES}
+
+  # Install lcov from github 
+  cd "$build_dir"
+  wget https://github.com/linux-test-project/lcov/releases/download/v1.12/lcov-1.12.tar.gz
+  tar zxvf lcov-1.12.tar.gz
+  cd lcov-1.12
+  # Reset lcov to release 1.12
+  ${SUDO_CMD} make install
+
+  gem install coveralls-lcov
+}
+
+install_dependencies()
+{
+  if [[ ${CI_OS_NAME} = linux ]]; then
+    _linux_install_dependencies
+  fi
+  if [[ ${CI_OS_NAME} = osx ]]; then
+    _osx_install_dependencies
+  fi
+  # and we build directly dependencies from the Git repository
+  for package in ${ROS_GIT_DEPENDENCIES}; do
+    catkin_git_dependency "$package"
+  done
+  if `test "x${ROS_GIT_DEPENDENCIES}" != x`; then
+    catkin_build_workspace
+  fi
+
+  for package in ${GIT_DEPENDENCIES}; do
+    build_git_dependency "$package"
+  done
+}
+
+#########################
+#  --  Main script  --  #
+#########################
+
+# Print Git version
+git --version
+
+# Setup Git identity.
+git config --global user.name "JRL/IDH Continuous Integration Tool"
+git config --global user.email "jrl-idh+ci@gmail.com"
+
+# Retrieve the submodules.
+git submodule update --quiet --init --recursive
+
+# Fetch tags to compute the distance between the last release tag
+# and us.
+git fetch --quiet --tags
+
+# Shortcuts.
+git_clone="git clone --quiet --recursive"
+
+# Display environment
+echo "Environment:"
+env
+
+
+setup_package_source
+
 # Check if we are in a debian branch...
 if [ -d debian ]; then
-    if `test x${DIST} = x`; then
-	echo "distribution is not set, skipping this build"
-	exit 0
-    fi
-    echo "Target distribution: ${DIST}"
-
-    # If we are, we install Debian package development tools and
-    # create a sid pbuilder. Package dependencies will be installed
-    # automatically.
-    sudo apt-get install -qq			\
-	debootstrap devscripts			\
-	git-buildpackage debian-archive-keyring \
-	pkg-kde-tools dput eatmydata ccache
-
-    # Fix ccache use in pbuilder
-    sudo addgroup --system --gid 1234 ccache
-    sudo adduser --quiet --system --uid 1234 --ingroup ccache \
-	--home /var/cache/pbuilder --no-create-home pbuilder
-    sudo mkdir -p /var/cache/pbuilder/ccache
-    sudo chown -R pbuilder:ccache /var/cache/pbuilder/ccache
-    sudo chmod -R g+ws /var/cache/pbuilder/ccache
-
-    # Remove previous sandbox.
-    sudo rm -rf /var/cache/pbuilder/base-${DIST}.cow || true
-
-    # Create a pbuilder sandbox.
-    cp -f $root_dir/.travis/pbuilderrc $HOME/.pbuilderrc
-    sed -i "s|@DIST@|${DIST}|g" $HOME/.pbuilderrc
-
-    git-pbuilder create
-
-    # Speed up pbuilder.
-    echo "echo \"force-unsafe-io\" > /etc/dpkg/dpkg.cfg.d/02apt-speedup" | \
-	git-pbuilder login --save-after-exec
-
-    # Add additional PPAs
-    for ppa in ${DEBIAN_PPA}; do
-	echo "apt-add-repository ppa:${ppa}" | \
-	    git-pbuilder login --save-after-exec
-    done
-
-    # Retrieve PPA package list.
-    git-pbuilder update
-
-    # ccache is not necessary in our case and may cause permission
-    # issues.
-    echo "apt-get -y remove ccache" |			\
-	git-pbuilder login --save-after-exec
+  setup_pbuilder
 else
-    if [ ! x${DIST} = x ]; then
-	echo "skipping this build"
-	exit 0
-    fi
-
-    if [[ ${TRAVIS_OS_NAME} = linux ]]; then
-	# Add additional PPAs
-	for ppa in ${MASTER_PPA}; do
-            sudo add-apt-repository -y ppa:${ppa}
-	done
-	sudo apt-get update -qq
-
-	# ...otherwise we install the dependencies explicitly.
-	sudo apt-get install -qq curl cppcheck ${APT_DEPENDENCIES}
-
-	# Install lcov and related dependencies
-	sudo apt-get install -qq lcov
-
-	# lcov will only be used on linux
-	gem install coveralls-lcov
-
-    elif [[ ${TRAVIS_OS_NAME} = osx ]]; then
-
-	# Add science-related repos
-	brew tap homebrew/science
-
-	# Update homebrew
-	brew update
-
-	# Install user-specified packages
-	brew install cppcheck ${HOMEBREW_DEPENDENCIES}
-    fi
-
-    # and we build directly dependencies from the Git repository
-    if `! test x${ROS_GIT_DEPENDENCIES} = x`; then
-      for package in ${ROS_GIT_DEPENDENCIES}; do
-        catkin_git_dependency "$package"
-      done
-    fi
-
-    cd $root_dir
-    for package in ${GIT_DEPENDENCIES}; do
-	build_git_dependency "$package"
-    done
+  if [ ! x${DIST} = x ]; then
+    echo "skipping this build"
+    exit 0
+  fi
+  install_dependencies
 fi
 
 # End debug mode
diff --git a/.travis/build b/.travis/build
index c89ecb9d..a4514173 100755
--- a/.travis/build
+++ b/.travis/build
@@ -1,5 +1,5 @@
 #!/bin/bash
-. .travis/common.sh
+. `dirname $0`/common.sh
 
 # Set debug mode
 set -x
@@ -16,24 +16,22 @@ build_package()
 
     cd "$build_dir"
     cmake "$root_dir" -DCMAKE_INSTALL_PREFIX="$install_dir"	\
-	-DCMAKE_CXX_FLAGS="--coverage"				\
-	-DCMAKE_EXE_LINKER_FLAGS="--coverage"			\
-	-DCMAKE_MODULE_LINKER_FLAGS="--coverage"		\
-	${CMAKE_ADDITIONAL_OPTIONS}
+      -DCMAKE_CXX_FLAGS="--coverage"				\
+      -DCMAKE_EXE_LINKER_FLAGS="--coverage"			\
+      -DCMAKE_MODULE_LINKER_FLAGS="--coverage"		\
+      ${CMAKE_ADDITIONAL_OPTIONS}
     ${MAKE_PREFIX} make
     make install
 
-    if `test x${ALLOW_TESTSUITE_FAILURE} = x`; then
-	ALLOW_TESTSUITE_FAILURE=false
-    fi
+    ALLOW_TESTSUITE_FAILURE=${ALLOW_TESTSUITE_FAILURE:-false}
     make test || ${ALLOW_TESTSUITE_FAILURE}
 
     cppcheck --quiet --enable=all \
-	-I $root_dir/src -I $root_dir/tests -I $root_dir/include \
-	-I $root_dir/tests/shared-tests \
-	-I $build_dir/include -I $install_dir/include \
-	-i $build_dir/CMakeFiles \
-	$root_dir || true
+      -I $root_dir/src -I $root_dir/tests -I $root_dir/include \
+      -I $root_dir/tests/shared-tests \
+      -I $build_dir/include -I $install_dir/include \
+      -i $build_dir/CMakeFiles \
+      $root_dir || true
 }
 
 # debian_build_package
@@ -51,10 +49,10 @@ debian_build_package()
     cd "$root_dir"
 
     buildNumber=$(git rev-list \
-	$(git describe --tags --match "debian/*" --abbrev=0)..HEAD | wc -l) \
-	|| buildNumber=1
+      $(git describe --tags --match "debian/*" --abbrev=0)..HEAD | wc -l) \
+      || buildNumber=1
     dch --force-distribution --distribution ${DIST} \
-	--local ppa$buildNumber+$DIST "Travis automatic build"
+        --local ppa$buildNumber+$DIST "Travis automatic build"
 
     echo "debian/changelog first line:"
     head -n 1 debian/changelog
@@ -62,44 +60,62 @@ debian_build_package()
     git add debian/changelog
     git commit -m "Travis automatic commit"
 
-    sudo chmod -R 777 /var/cache/pbuilder/ccache
+    ${SUDO_CMD} chmod -R 777 /var/cache/pbuilder/ccache
 
     # If orig tarball exists, delete it.
     rm -f "$build_dir/export/*_*.orig.tar*"
     git-buildpackage					\
-	--git-submodules				\
-	--git-no-pristine-tar				\
-	--git-ignore-branch				\
-	--git-debian-branch=HEAD			\
-	--git-export-dir="$build_dir/export"		\
-	--git-tag					\
-	--git-upstream-branch=master			\
-	--git-dist=${DIST}				\
-	--git-pbuilder					\
-	--git-force-create				\
-	--git-ignore-new				\
-	--git-retag					\
-	-p\"gpg\\ --passphrase\\ ${GNUPG_PASSPHRASE}\" \
-	-k${DEBSIGN_KEYID} || exit 1
+      --git-submodules				\
+      --git-no-pristine-tar				\
+      --git-ignore-branch				\
+      --git-debian-branch=HEAD			\
+      --git-export-dir="$build_dir/export"		\
+      --git-tag					\
+      --git-upstream-branch=master			\
+      --git-dist=${DIST}				\
+      --git-pbuilder					\
+      --git-force-create				\
+      --git-ignore-new				\
+      --git-retag					\
+      -p\"gpg\\ --passphrase\\ ${GNUPG_PASSPHRASE}\" \
+      -k${DEBSIGN_KEYID} || exit 1
 
 
     git-buildpackage			\
-	--git-submodules		\
-	--git-no-pristine-tar		\
-	--git-debian-branch=HEAD	\
-	--git-ignore-branch		\
-	--git-export-dir="$build_dir/export" \
-	--git-tag			\
-	--git-upstream-branch=master	\
-	--git-dist=${DIST}		\
-	--git-ignore-new		\
-	--git-retag			\
-	-p\"gpg --passphrase ${GNUPG_PASSPHRASE}\" \
-	-k${DEBSIGN_KEYID} \
-	-S -sa || exit 1
+      --git-submodules		\
+      --git-no-pristine-tar		\
+      --git-debian-branch=HEAD	\
+      --git-ignore-branch		\
+      --git-export-dir="$build_dir/export" \
+      --git-tag			\
+      --git-upstream-branch=master	\
+      --git-dist=${DIST}		\
+      --git-ignore-new		\
+      --git-retag			\
+      -p\"gpg --passphrase ${GNUPG_PASSPHRASE}\" \
+      -k${DEBSIGN_KEYID} \
+      -S -sa || exit 1
 }
 
 
+# setup_ros_build_environment
+# ---------------------------
+#
+# Source ROS setup scripts if they exist
+setup_ros_build_environment()
+{
+  if [ -e /opt/ros/${ROS_DISTRO}/setup.sh ]; then
+    . /opt/ros/${ROS_DISTRO}/setup.sh
+  fi
+  CATKIN_DEP_WORKSPACE=/tmp/_ci/catkin_dep_ws
+  if [ -e ${CATKIN_DEP_WORKSPACE}/devel/setup.sh ]; then
+    . ${CATKIN_DEP_WORKSPACE}/devel/setup.sh
+  fi
+  # Limit the number of parallel jobs when running catkin_make
+  PARALLEL_JOBS=${PARALLEL_JOBS:-1}
+  export ROS_PARALLEL_JOBS="-j ${PARALLEL_JOBS}"
+}
+
 # build_catkin_package
 # --------------------
 #
@@ -108,48 +124,41 @@ debian_build_package()
 # and check whether the catkin package is well written (catkin_lint)
 build_catkin_package()
 {
-    . /opt/ros/${ROS_DISTRO}/setup.sh
+    # Main package workspace
     CATKIN_WORKSPACE=$build_dir/..
-
-    # Limit the number of parallel jobs when running catkin_make
-    if `test x${PARALLEL_JOBS} = x`; then
-	export ROS_PARALLEL_JOBS='-j 1'
-    else
-	export ROS_PARALLEL_JOBS='-j ${PARALLEL_JOBS}'
-    fi
-
+    ln -s $root_dir/.. $CATKIN_WORKSPACE/src
+    cd $CATKIN_WORKSPACE/src
+    catkin_init_workspace
 
     cd $CATKIN_WORKSPACE
     catkin_make
     for pack in `ls -d ./src/*/ ./src/*/*/`; do
-	if test -f $pack/package.xml; then
-	    rosdoc_lite $pack
-	fi
+    if test -f $pack/package.xml; then
+      rosdoc_lite $pack
+    fi
     done
     catkin_make install
 
     # run catkin_lint on every directory.
-    if `test x${ALLOW_CATKINLINT_FAILURE} = x`; then
-	ALLOW_CATKINLINT_FAILURE=false
-    fi
+    ALLOW_CATKINLINT_FAILURE=${ALLOW_CATKINLINT_FAILURE:-false}
     catkin_lint `ls -d ./src/*/ ./src/*/*/`  || ${ALLOW_CATKINLINT_FAILURE}
 }
 
+setup_ros_build_environment
 # Realize a normal build in all branches except the one containing a
 # debian/ folder.
 if [ -d debian ]; then
     if `test x${DIST} = x`; then
-	echo "distribution is not set, skipping this build"
-	exit 0
+      echo "distribution is not set, skipping this build"
+      exit 0
     fi
     echo "Target distribution: ${DIST}"
     debian_build_package
 else
     if [ ! x${DIST} = x ]; then
-	echo "skipping this build"
-	exit 0
+      echo "skipping this build"
+      exit 0
     fi
-
     # checking if it is a ros folder. Taking appropriate measure.
     #The current repository is a package
     if  [[ -n $(find .  -maxdepth 2 -name package.xml) ]]; then
diff --git a/.travis/common.sh b/.travis/common.sh
index 1350e85b..746f6401 100644
--- a/.travis/common.sh
+++ b/.travis/common.sh
@@ -2,51 +2,226 @@
 # This should be sourced, not called.
 set -e
 
-# Directories.
-root_dir=`pwd`
+########################################
+#        -- VERBOSE HANDLING --        #
+########################################
 
-build_dir="/tmp/_travis/build"
-install_dir="/tmp/_travis/install"
+# More verbose handling for 'set -e'.
+#
+# Show a traceback if we're using bash, otherwise just a message.
+# Downloaded from: https://gist.github.com/kergoth/3885825
+on_exit () {
+    ret=$?
+    case $ret in
+        0)
+            ;;
+        *)
+            echo >&2 "Exiting with $ret from a shell command"
+            ;;
+    esac
+}
 
-echo "root_dir: " $root_dir
-echo "build_dir: " $build_dir
-echo "install_dir: " $install_dir
+on_error () {
+    local ret=$?
+    local FRAMES=${#BASH_SOURCE[@]}
 
-# osx support is still in beta
-if `test x${TRAVIS_OS_NAME} = x`; then
-    export TRAVIS_OS_NAME=linux
-fi
+    echo >&2 "Traceback (most recent call last):"
+    for ((frame=FRAMES-2; frame >= 0; frame--)); do
+        local lineno=${BASH_LINENO[frame]}
 
-# Shortcuts.
-git_clone="git clone --quiet --recursive"
+        printf >&2 '  File "%s", line %d, in %s\n' "${BASH_SOURCE[frame+1]}" "$lineno" "${FUNCNAME[frame+1]}"
+        sed >&2 -n "${lineno}s/^[ 	]*/    /p" "${BASH_SOURCE[frame+1]}" || true
+    done
+    printf >&2 "Exiting with %d\n" "$ret"
+    exit $ret
+}
+
+case "$BASH_VERSION" in
+    '')
+        trap on_exit EXIT
+        ;;
+    *)
+        set -o errtrace
+        trap on_error ERR
+        ;;
+esac
+
+########################################
+#        -- GLOBAL UTILITIES --        #
+########################################
+
+# git_dependency_parsing
+# ----------------------
+#
+# From an entry in GIT_DEPENDENCIES variable set git_dep, git_dep_uri and
+# git_dep_branch in the environment
+# For example given the input "jrl-umi3218/jrl-travis" the following variables
+# are defined in the environment:
+# - git_dep jrl-umi3218/jrl-travis
+# - git_dep_uri git://github.com/jrl-umi3218/jrl-traviss
+# - git_dep_branch master
+# Or, given the input git@github.com:jrl-umi3218/jrl-travis#thebranch
+# - git_dep jrl-umi3218/jrl-travis
+# - git_dep_uri git@github.com:jrl-umi3218/jrl-travis
+# - git_dep_branch thebranch
+# The second (optional) argument allows to defined the default branch (defaults
+# to master)
+git_dependency_parsing()
+{
+  _input=$1
+  export git_dep=${_input%%#*}
+  export git_dep_branch=${_input##*#}
+  if [ "$git_dep_branch" == "$git_dep" ]; then
+    if [ -e "$2" ]; then
+      export git_dep_branch=$2
+    else
+      export git_dep_branch="master"
+    fi
+  fi
+  git_dep_uri_base=${git_dep%%:*}
+  if [ "$git_dep_uri_base" == "$git_dep" ]; then
+    export git_dep_uri="git://github.com/$git_dep"
+  else
+    export git_dep_uri=$git_dep
+    export git_dep=${git_dep##*:}
+  fi
+}
+
+
+########################################
+#    -- ENVIRONMENT MANIPULATION --    #
+########################################
+
+_gitlab_setup_ci_vars()
+{
+  export CI_REQUIRE_SUDO=false
+  export CI_PULL_REQUEST=false #FIXME Can it be provided by gitlab?
+  export CI_REPO_SLUG=`echo ${CI_PROJECT_DIR}|sed -e's@/builds/@@'`
+  export CI_BRANCH=${CI_BUILD_REF_NAME}
+  export CI_OS_NAME=${CI_OS_NAME:-linux}
+}
+
+_travis_setup_ci_vars()
+{
+  export CI_REQUIRE_SUDO=${CI_REQUIRE_SUDO:-true}
+  export CI_PULL_REQUEST=${TRAVIS_PULL_REQUEST}
+  export CI_REPO_SLUG=${TRAVIS_REPO_SLUG}
+  export CI_BRANCH=${TRAVIS_BRANCH}
+  export CI_OS_NAME=${TRAVIS_OS_NAME:-linux}
+}
+
+# _setup_ci_vars
+# --------------
+#
+# Setup CI_* variables based on the CI type
+_setup_ci_vars()
+{
+  # Check which CI tool we are using, default to travis
+  export CI_TOOL=${CI_TOOL:-travis}
 
-# Setup environment variables.
-if [ -d /opt/ros ]; then
-  . /opt/ros/${ROS_DISTRO}/setup.sh
-fi
+  if [ $CI_TOOL = travis ]; then
+    _travis_setup_ci_vars
+  else
+    _gitlab_setup_ci_vars
+  fi
+}
 
-export LD_LIBRARY_PATH="$install_dir/lib:$LD_LIBRARY_PATH"
-export LTDL_LIBRARY_PATH="$install_dir/lib:$LTDL_LIBRARY_PATH"
-export PKG_CONFIG_PATH="$install_dir/lib/pkgconfig:$PKG_CONFIG_PATH"
+# _setup_sudo_cmd
+# ---------------
+#
+# Setup SUDO_CMD based on CI configuration
+_setup_sudo_cmd()
+{
+  if [ ${CI_REQUIRE_SUDO} = false ]; then
+    export SUDO_CMD=''
+  else
+    export SUDO_CMD='sudo'
+  fi
+}
 
-if [[ ${TRAVIS_OS_NAME} = linux ]]; then
-    export LD_LIBRARY_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`:$LD_LIBRARY_PATH"
-    export LTDL_LIBRARY_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`:$LTDL_LIBRARY_PATH"
-    export PKG_CONFIG_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`/pkgconfig:$PKG_CONFIG_PATH"
-fi
+# _setup_ros
+# ----------
+#
+# Setup ROS environment if present on the system
+_setup_ros()
+{
+  if [ -f /opt/ros/${ROS_DISTRO}/setup.sh ]; then
+    . /opt/ros/${ROS_DISTRO}/setup.sh
+  fi
+}
 
-if type "python" > /dev/null; then
+# _setup_env_vars
+# ---------------
+#
+# Setup environment variables
+_setup_env_vars()
+{
+  export LD_LIBRARY_PATH="$install_dir/lib:$LD_LIBRARY_PATH"
+  export LTDL_LIBRARY_PATH="$install_dir/lib:$LTDL_LIBRARY_PATH"
+  export PKG_CONFIG_PATH="$install_dir/lib/pkgconfig:$install_dir/share/pkgconfig:$PKG_CONFIG_PATH"
+  if type "python" > /dev/null; then
     pythonsite_dir=`python -c "import sys, os; print(os.sep.join(['lib', 'python' + sys.version[:3], 'site-packages']))"`
     export PYTHONPATH="$install_dir/$pythonsite_dir:$PYTHONPATH"
-fi
+  fi
 
-if [[ ${TRAVIS_OS_NAME} = osx ]]; then
-    # Since default gcc on osx is just a front-end for LLVM...
-    if [[ ${CC} = gcc ]]; then
-	export CXX=g++-4.8
-	export CC=gcc-4.8
-    fi
-fi
+}
+
+# _setup_linux_env
+# ----------------
+#
+# Environment setup specific to linux
+_setup_linux_env()
+{
+  export LD_LIBRARY_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`:$LD_LIBRARY_PATH"
+  export LTDL_LIBRARY_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`:$LTDL_LIBRARY_PATH"
+  export PKG_CONFIG_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`/pkgconfig:$PKG_CONFIG_PATH"
+}
+
+# _setup_osx_env
+# ----------------
+#
+# Environment setup specific to OSX
+_setup_osx_env()
+{
+  # Since default gcc on osx is just a front-end for LLVM...
+  if [[ ${CC} = gcc ]]; then
+    export CXX=g++-4.8
+    export CC=gcc-4.8
+  fi
+}
+
+# setup_ci_env
+# ------------
+#
+# Setup the CI and environment variables
+setup_ci_env()
+{
+  _setup_ci_vars
+  _setup_sudo_cmd
+  _setup_ros
+  _setup_env_vars
+  if [[ ${CI_OS_NAME} = linux ]]; then
+    _setup_linux_env
+  fi
+  if [[ ${CI_OS_NAME} = osx ]]; then
+    _setup_osx_env
+  fi
+}
+
+# Directories.
+root_dir=`pwd`
+build_dir="/tmp/_ci/build"
+install_dir="/tmp/_ci/install"
+
+echo "root_dir: " $root_dir
+echo "build_dir: " $build_dir
+echo "install_dir: " $install_dir
+
+# Shortcuts.
+git_clone="git clone --quiet --recursive"
+
+# Setup all variables needed by the CI scripts
+setup_ci_env
 
 # Make cmake verbose.
 export CMAKE_VERBOSE_MAKEFILE=1
@@ -55,6 +230,3 @@ export CTEST_OUTPUT_ON_FAILURE=1
 # Create layout.
 mkdir -p "$build_dir"
 mkdir -p "$install_dir"
-
-# Add verbose handling
-. .travis/verbose_errors.sh
diff --git a/.travis/dependencies/catkin b/.travis/dependencies/catkin
index 60c5d547..2d39a9ad 100755
--- a/.travis/dependencies/catkin
+++ b/.travis/dependencies/catkin
@@ -1,28 +1,30 @@
 #!/bin/bash
-. .travis/common.sh
+. `dirname $0`/../common.sh
 
 # If the ros version is not defined, quit.
 if `test x${ROS_DISTRO} = x`; then
   exit 0
 fi
 
-sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
-wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-sudo apt-get update
+${SUDO_CMD} sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -c -s` main" > /etc/apt/sources.list.d/ros-latest.list'
+wget http://packages.ros.org/ros.key -O - | ${SUDO_CMD} apt-key add -
+${SUDO_CMD} apt-get update
 
-if `test x${ROS_DISTRO} = xhydro`; then
-  sudo apt-get install ros-hydro-ros-base ros-hydro-rosdoc-lite python-catkin-lint
+if `test x${ROS_DISTRO} = xjade`; then
+  ${SUDO_CMD} apt-get install -qq ros-jade-ros-base ros-jade-rosdoc-lite python-catkin-lint
+elif `test x${ROS_DISTRO} = xindigo`; then
+  ${SUDO_CMD} apt-get install -qq ros-indigo-ros-base ros-indigo-rosdoc-lite python-catkin-lint
+elif `test x${ROS_DISTRO} = xhydro`; then
+  ${SUDO_CMD} apt-get install -qq ros-hydro-ros-base ros-hydro-rosdoc-lite python-catkin-lint
 elif `test x${ROS_DISTRO} = xgroovy`; then
-  sudo apt-get install ros-groovy-ros-base ros-groovy-rosdoc-lite python-catkin-lint
+  ${SUDO_CMD} apt-get install -qq ros-groovy-ros-base ros-groovy-rosdoc-lite python-catkin-lint
 else
   echo "ROS distribution unkown, exiting" + ${ROS_DISTRO}
-	exit 1
+  exit 1
 fi
 . /opt/ros/${ROS_DISTRO}/setup.sh
 
-# workspace
-CATKIN_WORKSPACE=$build_dir/..
-ln -s $root_dir/.. $CATKIN_WORKSPACE/src
-cd $CATKIN_WORKSPACE/src
-catkin_init_workspace
-
+# Dependencies workspace
+CATKIN_DEP_WORKSPACE=/tmp/_ci/catkin_dep_ws
+mkdir -p $CATKIN_DEP_WORKSPACE/src
+cd $CATKIN_DEP_WORKSPACE/src
diff --git a/.travis/dependencies/eigen-3.2 b/.travis/dependencies/eigen-3.2
index d652c4dc..46d48380 100755
--- a/.travis/dependencies/eigen-3.2
+++ b/.travis/dependencies/eigen-3.2
@@ -2,10 +2,10 @@
 #
 # Setup Eigen 3.2
 #
-. .travis/common.sh
+. `dirname $0`/../common.sh
 
-EIGEN_VERSION=3.2.5
-EIGEN_HASH=bdd17ee3b1b3
+EIGEN_VERSION=3.2.8
+EIGEN_HASH=07105f7124f9
 
 # Checkout Eigen
 cd "$build_dir"
@@ -16,8 +16,7 @@ mkdir -p "$build_dir/eigen-eigen-${EIGEN_HASH}/_build"
 cd "$build_dir/eigen-eigen-${EIGEN_HASH}/_build"
 
 # Build, make and install Eigen
-cmake .. -DCMAKE_INSTALL_PREFIX:STRING="$install_dir" \
-	 -Dpkg_config_libdir:STRING="$install_dir/lib"
+cmake .. -DCMAKE_INSTALL_PREFIX:STRING="$install_dir"
 make
 make install
 
diff --git a/.travis/dependencies/eigen-3.2.ps1 b/.travis/dependencies/eigen-3.2.ps1
new file mode 100644
index 00000000..1db43158
--- /dev/null
+++ b/.travis/dependencies/eigen-3.2.ps1
@@ -0,0 +1,26 @@
+$EIGEN_VERSION="3.2.8"
+$EIGEN_HASH="07105f7124f9"
+
+cd $Env:SOURCE_FOLDER
+appveyor DownloadFile "http://bitbucket.org/eigen/eigen/get/$EIGEN_VERSION.zip"
+7z x "${EIGEN_VERSION}.zip" -o"${Env:SOURCE_FOLDER}\eigen" -r
+cd "${Env:SOURCE_FOLDER}\eigen\eigen-eigen-$EIGEN_HASH"
+md build
+cd build
+
+# Build, make and install Eigen
+cmake -G "Visual Studio 14 2015 Win64" -DCMAKE_INSTALL_PREFIX="${Env:CMAKE_INSTALL_PREFIX}" ../
+msbuild INSTALL.vcxproj
+
+# Generate eigen3.pc
+$EIGEN3_PC_FILE="${Env:PKG_CONFIG_PATH}/eigen3.pc"
+echo "Name: Eigen3" | Out-File -Encoding ascii -FilePath $EIGEN3_PC_FILE
+echo "Description: A C++ template library for linear algebra: vectors, matrices, and related algorithms" | Out-File -Append -Encoding ascii -FilePath $EIGEN3_PC_FILE
+echo "Requires:" | Out-File -Append -Encoding ascii -FilePath $EIGEN3_PC_FILE
+echo "Version: $EIGEN_VERSION" | Out-File -Append -Encoding ascii -FilePath $EIGEN3_PC_FILE
+echo "Libs:" | Out-File -Append -Encoding ascii -FilePath $EIGEN3_PC_FILE
+echo "Cflags: -I${Env:CMAKE_INSTALL_PREFIX}/include/eigen3" | Out-File -Append -Encoding ascii -FilePath $EIGEN3_PC_FILE
+
+# Check install
+pkg-config --modversion "eigen3 >= ${EIGEN_VERSION}"
+pkg-config --cflags "eigen3 >= ${EIGEN_VERSION}"
diff --git a/.travis/dependencies/nag b/.travis/dependencies/nag
index bb2c7f5e..88adc789 100755
--- a/.travis/dependencies/nag
+++ b/.travis/dependencies/nag
@@ -2,7 +2,7 @@
 #
 # Setup NAG
 #
-. .travis/common.sh
+. `dirname $0`/../common.sh
 
 build_dir=`mktemp -d`
 trap "rm -rf -- '$build_dir'" EXIT
@@ -15,6 +15,6 @@ export PKG_CONFIG_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARC
 
 # Checkout NAG.
 cd "$build_dir"
-wget "http://www.nag.co.uk/downloads/impl/cll6a23dhl.tgz"
-tar xzvf cll6a23dhl.tgz
+wget "http://www.nag.co.uk/downloads/impl/cll6i25dcl.tgz"
+tar xzvf cll6i25dcl.tgz
 ./install.sh -accept -installdir="$install_dir/NAG"
diff --git a/.travis/dependencies/nlopt b/.travis/dependencies/nlopt
index e0058037..311cc29c 100755
--- a/.travis/dependencies/nlopt
+++ b/.travis/dependencies/nlopt
@@ -2,7 +2,7 @@
 #
 # Setup NLopt
 #
-. .travis/common.sh
+. `dirname $0`/../common.sh
 
 build_dir=`mktemp -d`
 trap "rm -rf -- '$build_dir'" EXIT
diff --git a/.travis/dependencies/pagmo b/.travis/dependencies/pagmo
index 4866626b..50c87935 100755
--- a/.travis/dependencies/pagmo
+++ b/.travis/dependencies/pagmo
@@ -2,8 +2,8 @@
 #
 # Setup PaGMO
 #
-. .travis/common.sh
-pagmo_pc_file="`pwd`/.travis/dependencies/pagmo.pc"
+. `dirname $0`/common.sh
+pagmo_pc_file="`dirname $0`/dependencies/pagmo.pc"
 build_dir=`mktemp -d`
 trap "rm -rf -- '$build_dir'" EXIT
 
diff --git a/.travis/dependencies/pybindgen-0.16 b/.travis/dependencies/pybindgen-0.16
new file mode 100755
index 00000000..ac557741
--- /dev/null
+++ b/.travis/dependencies/pybindgen-0.16
@@ -0,0 +1,19 @@
+#!/bin/bash
+
+# Install pybindgen v 0.16.0
+
+. `dirname $0`/../common.sh
+
+# Install dependencies
+${SUDO_CMD} apt-get install -qq gccxml python-pygccxml
+
+# Get pybindgen
+cd "$build_dir"
+wget --quiet https://pybindgen.googlecode.com/files/pybindgen-0.16.0.tar.bz2
+tar xjf pybindgen-0.16.0.tar.bz2
+cd "$build_dir/pybindgen-0.16.0/"
+
+# Configure build and install
+./waf configure
+./waf
+${SUDO_CMD} ./waf install
diff --git a/.travis/functions.ps1 b/.travis/functions.ps1
new file mode 100644
index 00000000..46bfcb76
--- /dev/null
+++ b/.travis/functions.ps1
@@ -0,0 +1,99 @@
+function git_dependency_parsing
+{
+  $_input = $args[0].split('#');
+  if($args.length -gt 1)
+  {
+    $default_branch = $args[1];
+  }
+  else
+  {
+    $default_branch = "master";
+  }
+  Set-Variable -Name git_dep -Value $_input[0] -Scope Global;
+  Set-Variable -Name git_dep_branch -Value $default_branch -Scope Global;
+  if($_input.length -eq 2)
+  {
+    $git_dep_branch = $_input[1];
+    Set-Variable -Name git_dep_branch -Value $git_dep_branch -Scope Global;
+  }
+  $git_dep_uri_base = $git_dep.split(':')[0];
+  if($git_dep_uri_base -eq $git_dep)
+  {
+    $git_dep_uri = "git://github.com/" + $git_dep
+    Set-Variable -Name git_dep_uri -Value $git_dep_uri -Scope Global;
+  }
+  else
+  {
+    Set-Variable -Name git_dep_uri -Value $git_dep -Scope Global;
+    Set-Variable -Name git_dep -Value $git_dep.split(':')[1] -Scope Global;
+  }
+}
+
+function setup_directories
+{
+  md $env:CMAKE_INSTALL_PREFIX
+  if( -Not (Test-Path $Env:SOURCE_FOLDER) )
+  {
+    md $Env:SOURCE_FOLDER
+  }
+  if( -Not (Test-Path $Env:PKG_CONFIG_PATH) )
+  {
+    md $Env:PKG_CONFIG_PATH
+  }
+}
+
+function setup_pkg_config
+{
+  appveyor DownloadFile http://ftp.gnome.org/pub/gnome/binaries/win32/glib/2.28/glib_2.28.8-1_win32.zip
+  appveyor DownloadFile http://ftp.gnome.org/pub/gnome/binaries/win32/dependencies/pkg-config_0.26-1_win32.zip
+  appveyor DownloadFile http://ftp.gnome.org/pub/gnome/binaries/win32/dependencies/gettext-runtime_0.18.1.1-2_win32.zip
+  7z x glib_2.28.8-1_win32.zip -o"${env:CMAKE_INSTALL_PREFIX}" -r
+  7z x pkg-config_0.26-1_win32.zip -o"${env:CMAKE_INSTALL_PREFIX}" -r
+  7z x gettext-runtime_0.18.1.1-2_win32.zip -o"${env:CMAKE_INSTALL_PREFIX}" -r
+}
+
+function setup_build
+{
+  setup_directories
+  setup_pkg_config
+}
+
+function install_choco_dependencies
+{
+  ForEach($choco_dep in $Env:CHOCO_DEPENDENCIES.split(';'))
+  {
+    choco install $choco_dep
+  }
+}
+
+function install_git_dependencies
+{
+  ForEach($g_dep in $Env:GIT_DEPENDENCIES.split(';'))
+  {
+    cd $Env:SOURCE_FOLDER
+    git_dependency_parsing $g_dep
+    git clone -b "$git_dep_branch" "$git_dep_uri" "$git_dep"
+    cd $git_dep
+    git submodule update --init
+    md build
+    cd build
+    cmake ../ -G "Visual Studio 14 2015 Win64" -DCMAKE_INSTALL_PREFIX="${Env:CMAKE_INSTALL_PREFIX}" -DPYTHON_BINDING=OFF
+    msbuild INSTALL.vcxproj
+  }
+}
+
+function install_dependencies
+{
+  install_choco_dependencies
+  install_git_dependencies
+}
+
+function build_project
+{
+  cd $Env:PROJECT_SOURCE_DIR
+  git submodule update --init
+  md build
+  cd build
+  cmake ../ -G "Visual Studio 14 2015 Win64" -DCMAKE_INSTALL_PREFIX="${Env:CMAKE_INSTALL_PREFIX}" -DPYTHON_BINDING=OFF
+  msbuild INSTALL.vcxproj
+}
diff --git a/.travis/gitlab-ci.yml.in b/.travis/gitlab-ci.yml.in
new file mode 100644
index 00000000..7c1a8cfd
--- /dev/null
+++ b/.travis/gitlab-ci.yml.in
@@ -0,0 +1,39 @@
+variables:
+  CI_OS_NAME: @CI_OS_NAME@
+  CI_TOOL: gitlab-ci
+  APT_DEPENDENCIES: @APT_DEPENDENCIES@
+  GIT_DEPENDENCIES: @GIT_DEPENDENCIES@
+	ROS_GIT_DEPENDENCIES: @ROS_GIT_DEPENDENCIES@
+	ROS_DISTRO: @ROS_DISTRO@
+	PARALLEL_JOBS: @PARALLEL_JOBS@
+
+# Secured variable are stored in the project
+# See: http://doc.gitlab.com/ci/variables/README.html
+
+# Notifications (email/chatroom) are also handled by gitlab directly
+
+before_script:
+  - ./.jrl-ci/run before_install
+
+# The following is just an example possibility to run gcc/clang builds
+# One could set environment variable and apt dependencies to do the job
+
+build_gcc:
+  stage: build
+  script:
+    - ./.jrl-ci/run build
+    - ./.jrl-ci/run after_success
+  tags:
+    - GCC
+
+build_clang:
+  stage: build
+  script:
+    - ./.jrl-ci/run build
+    - ./.jrl-ci/run after_success
+  tags:
+    - clang
+  allow_failure: true
+
+stages:
+  - build
diff --git a/.travis/run b/.travis/run
index a50f2395..3d8655f1 100755
--- a/.travis/run
+++ b/.travis/run
@@ -12,7 +12,7 @@ GH_PUSH_URI=${GH_PUSH_URI:-"\#EDITED\#"}
 
 
 # Anonymize the output.
-./.travis/$1 2>&1 | sed					\
+`dirname $0`/$1 2>&1 | sed					\
     -e "s|${COVERITY_TOKEN}|\#EDITED\#|g"		\
     -e "s|${GNUPG_PASSPHRASE}|\#EDITED\#|g"		\
     -e "s|${GH_USERNAME}|\#EDITED\#|g"			\