diff --git a/.travis.yml b/.travis.yml
index 7584cd1f4c..7e79367f15 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -13,7 +13,7 @@ notifications:
 env:
   global:
     - MOVEIT_CI_TRAVIS_TIMEOUT=85  # Travis grants us 90 min, but we add a safety margin of 5 min
-    - ROS_DISTRO=foxy
+    - ROS_DISTRO=rolling
     - ROS_REPO=ros
     - UPSTREAM_WORKSPACE=moveit2.repos
     - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls"
@@ -22,13 +22,13 @@ env:
 jobs:
   fast_finish: true
   include:
-    - name: "[Foxy] - clang-format, ament_lint"
+    - name: "[Rolling] - clang-format, ament_lint"
       env: TEST="clang-format ament_lint"
-    - name: "[Foxy] - code-coverage"
+    - name: "[Rolling] - code-coverage"
       env: TEST=code-coverage
     - name: "[Foxy] - gcc (build,test)"
       env: ROS_DISTRO=foxy
-    - name: "[Foxy] - clang (build,test,clang-tidy-fix,test_ikfast_plugins)"
+    - name: "[Rolling] - clang (build,test,clang-tidy-fix,test_ikfast_plugins)"
       compiler: clang
       # test_ikfast_plugins takes ~10 minutes: include here to keep the main jobs shorter
       env: TEST=clang-tidy-fix
diff --git a/moveit2.repos b/moveit2.repos
index 3c6989cff4..50d63d10e5 100644
--- a/moveit2.repos
+++ b/moveit2.repos
@@ -45,3 +45,8 @@ repositories:
     type: git
     url: https://github.com/ros-planning/warehouse_ros_mongo
     version: ros2
+    
+  geometry2:
+    type: git
+    url: https://github.com/gleichdick/geometry2-1
+    version: ros2_new_toMsg_approach