diff --git a/.travis.yml b/.travis.yml
index b39f6c0..6e97e2e 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -5,23 +5,25 @@
 # https://github.com/ros-infrastructure/ros_buildfarm/blob/master/doc/jobs/prerelease_jobs.rst
 # while this doesn't require sudo we don't want to run within a Docker container
 sudo: true
-dist: trusty
+dist: bionic
 language: python
-python:
-  - "3.4"
 env:
   global:
     - JOB_PATH=/tmp/devel_job
     - ABORT_ON_TEST_FAILURE=1
+    - INDEX_URL=https://raw.githubusercontent.com/ros-infrastructure/ros_buildfarm_config/production/index.yaml
   matrix:
-    - ROS_DISTRO_NAME=indigo  OS_NAME=ubuntu OS_CODE_NAME=trusty ARCH=amd64
+    - CHECK_PYTHON3_COMPILE=true
+#    - ROS_DISTRO_NAME=indigo  OS_NAME=ubuntu OS_CODE_NAME=trusty ARCH=amd64
     - ROS_DISTRO_NAME=kinetic OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64
-    - ROS_DISTRO_NAME=lunar   OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64
     - ROS_DISTRO_NAME=melodic OS_NAME=ubuntu OS_CODE_NAME=bionic ARCH=amd64
+    - ROS_DISTRO_NAME=noetic OS_NAME=ubuntu OS_CODE_NAME=focal ARCH=amd64
 #   matrix:
 #     allow_failures:
 #       - env: ROS_DISTRO_NAME=kinetic OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64
 install:
+  # check python3 compatibility
+  - if [ "${CHECK_PYTHON3_COMPILE}" == "true" ]; then python3 -m compileall .; exit $?; fi
   # either install the latest released version of ros_buildfarm
   - pip install ros_buildfarm
   # or checkout a specific branch
diff --git a/package.xml b/package.xml
index 684a221..f2d0519 100644
--- a/package.xml
+++ b/package.xml
@@ -15,7 +15,7 @@
 
     <build_depend>message_generation</build_depend>
     <build_depend>roscpp</build_depend>
-    <build_depend>bfl</build_depend>
+    <build_depend>liborocos-bfl-dev</build_depend>
     <build_depend>std_msgs</build_depend>
     <build_depend>geometry_msgs</build_depend>
     <build_depend>sensor_msgs</build_depend>
@@ -25,7 +25,7 @@
 
     <run_depend>message_runtime</run_depend>
     <run_depend>roscpp</run_depend>
-    <run_depend>bfl</run_depend>
+    <run_depend>liborocos-bfl-dev</run_depend>
     <run_depend>std_msgs</run_depend>
     <run_depend>geometry_msgs</run_depend>
     <run_depend>sensor_msgs</run_depend>
diff --git a/scripts/wtf.py b/scripts/wtf.py
index e99745d..c91d653 100755
--- a/scripts/wtf.py
+++ b/scripts/wtf.py
@@ -5,9 +5,9 @@
 
 if __name__ == '__main__':
     rospy.init_node('spawner', anonymous=True)
-    print 'looking for node robot_pose_ekf...'
+    print ('looking for node robot_pose_ekf...')
     rospy.wait_for_service('robot_pose_ekf/get_status')
 
     s = rospy.ServiceProxy('robot_pose_ekf/get_status', GetStatus)
     resp = s.call(GetStatusRequest())
-    print resp.status
+    print (resp.status)