diff --git a/.appveyor.yml b/.appveyor.yml
index 8aa64c62..1980a76b 100644
--- a/.appveyor.yml
+++ b/.appveyor.yml
@@ -2,7 +2,7 @@ version: 1.0.{build}
 pull_requests:
   do_not_increment_build_number: true
 skip_tags: true
-os: Visual Studio 2015
+os: Visual Studio 2017
 init:
   - cmd: rd /s /q %CHOCOLATEYINSTALL%
   - ps: iex ((new-object net.webclient).DownloadString('https://chocolatey.org/install.ps1'))
@@ -11,33 +11,37 @@ install:
   - set "PATH=%PATH%;C:\Program Files\CMake\bin"
   - cmake --version
   - .\.appveyor\remove_python27_from_path.bat
-  - set "PATH=%PATH%;C:\Python35"
+  - set "PATH=%PATH%;C:\Python37"
   - python --version
   - python -m pip install -U setuptools pip
   - python -m pip install EmPy
-  - python -m pip install trollius
   - python -m pip install pyparsing
+  - python -m pip install colcon-core colcon-defaults colcon-library-path colcon-metadata colcon-output colcon-package-information colcon-package-selection colcon-parallel-executor colcon-powershell colcon-python-setup-py colcon-recursive-crawl colcon-test-result colcon-cmake colcon-ros
   - mkdir build
   - cd build
   - mkdir src
   - cd src
   - python -c "import shutil; shutil.copytree('../..', './class_loader', ignore=shutil.ignore_patterns('build'))"
-  - git clone https://github.com/ros/console_bridge.git
-  - git clone https://github.com/ros2/poco_vendor.git
   - mkdir ament
   - cd ament
   - git clone https://github.com/ament/ament_cmake.git
+  - git clone https://github.com/ament/ament_lint.git
   - git clone https://github.com/ament/ament_package.git
-  - git clone https://github.com/ament/ament_tools.git
-  - git clone https://github.com/osrf/osrf_pycommon.git
-  - git clone https://github.com/ament/googletest
+  - git clone https://github.com/ament/googletest.git
+  - git clone https://github.com/ament/uncrustify_vendor.git
+  - cd ..
+  - mkdir ros2
+  - cd ros2
+  - git clone https://github.com/ros2/console_bridge_vendor.git
+  - git clone https://github.com/ros2/poco_vendor.git
   - cd ..\..\..
-  - '"%VS140COMNTOOLS%\..\..\VC\vcvarsall.bat" x86_amd64'
-  - set "PATH=%PATH%;C:\Python35"
+  - call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Auxiliary\Build\vcvarsall.bat" x86_amd64
+  - set "PATH=%PATH%;C:\Python37;C:\Python37\Scripts"
 build_script:
   - cd build
-  - |
-    python -u src\ament\ament_tools\scripts\ament.py build --build-tests
-  - python -u src\ament\ament_tools\scripts\ament.py test --skip-build --skip-install --only class_loader
+  - colcon build --packages-up-to class_loader --packages-skip class_loader
+  - colcon build --packages-select class_loader --event-handlers console_direct+
+  - colcon test --packages-select class_loader --event-handlers console_direct+ --ctest-args -E cppcheck
+  - colcon test-result --test-result-base build
 deploy: off
 test: off
diff --git a/.travis.yml b/.travis.yml
index 79795d59..96b2eafa 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,43 +1,54 @@
 sudo: required
-language: python
-python:
-  - 3.5
+language: generic
 os:
   - linux
   - osx
-dist: trusty
+dist: xenial
 env:
   global:
     - AMENT_WS=~/ament_ws
     - AMENT_WS_SRC=${AMENT_WS}/src
+before_install:
+  - |
+    if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then
+        bash ./.travis/wait_for_apt.sh
+    fi
+
 install:
-  - make -f .travis/Makefile install_deps
   - |
-    if [[ "${TRAVIS_OS_NAME}" == "linux" ]]; then
-      CMAKE_URL="http://www.cmake.org/files/v3.5/cmake-3.5.2-Linux-x86_64.tar.gz"
-      mkdir cmake35 && travis_retry wget --no-check-certificate --quiet -O - ${CMAKE_URL} | tar --strip-components=1 -xz -C cmake35
-      export PATH=`pwd`/cmake35/bin:${PATH}
+    if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then
+        sudo apt-get update -qq
+        sudo apt-get install cmake cppcheck libxml2-utils libpoco-dev python3 python3-pip python3-empy python3-pyparsing python3-setuptools wget
     else
-      if ! brew ls --version cmake &>/dev/null; then brew install cmake; fi
+        brew update
+        brew outdated cmake || brew upgrade cmake || brew install cmake
+        brew install cppcheck console_bridge poco uncrustify
+        brew outdated python3 || brew upgrade python3 || brew install python3
     fi
+  - python3 --version
+  - sudo -H python3 -m pip install -U setuptools pip pyparsing
+  - sudo -H python3 -m pip install catkin_pkg EmPy
+  - sudo -H python3 -m pip install -U colcon-bash colcon-core colcon-defaults colcon-library-path colcon-metadata colcon-output colcon-package-information colcon-package-selection colcon-parallel-executor colcon-python-setup-py colcon-recursive-crawl colcon-test-result colcon-cmake colcon-ros
+  - sudo -H python3 -m pip install -U flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pytest pytest-repeat pytest-rerunfailures pytest-cov pytest-runner setuptools
 script:
-  - mkdir -p build/src/ament
-  - cd build
-  - touch AMENT_IGNORE
+  - mkdir -p $AMENT_WS_SRC/ament
+  - mkdir -p $AMENT_WS_SRC/ros2
   # Fetch dependencies into the workspace
-  - cd src/ament
+  - cd $AMENT_WS_SRC/ament
   - git clone https://github.com/ament/ament_cmake.git
+  - git clone https://github.com/ament/ament_lint.git
   - git clone https://github.com/ament/ament_package.git
-  - git clone https://github.com/ament/ament_tools.git
-  - git clone https://github.com/osrf/osrf_pycommon.git
-  - git clone https://github.com/ament/googletest
-  - cd ..
-  - git clone https://github.com/ros/console_bridge.git
+  - git clone https://github.com/ament/googletest.git
+  - git clone https://github.com/ament/uncrustify_vendor.git
+  - cd $AMENT_WS_SRC/ros2
+  - git clone https://github.com/ros2/console_bridge_vendor.git
   - git clone https://github.com/ros2/poco_vendor.git
-  - cd ..
+  - cd $AMENT_WS
   # Link source into workspace's source space
   - ln -s $TRAVIS_BUILD_DIR ./src
   # Build
-  - python3 -u ./src/ament/ament_tools/scripts/ament.py build --build-tests --ament-cmake-args -DPYTHON_VERSION=3 -- --end-with class_loader
+  - colcon build --packages-up-to class_loader --packages-skip class_loader
+  - colcon build --packages-select class_loader --event-handlers console_direct+
   # Test
-  - python3 -u ./src/ament/ament_tools/scripts/ament.py test --skip-build --skip-install --only class_loader
+  - colcon test --packages-select class_loader --event-handlers console_direct+
+  - colcon test-result --test-result-base build
diff --git a/.travis/Makefile b/.travis/Makefile
deleted file mode 100644
index a8c10431..00000000
--- a/.travis/Makefile
+++ /dev/null
@@ -1,18 +0,0 @@
-all: class_loader
-
-UNAME := $(shell uname -s)
-
-install_deps:
-ifeq ($(UNAME),Darwin)
-	brew update
-	brew outdated python3 || brew upgrade python3 || brew install python3
-	brew outdated poco || brew upgrade poco || brew install poco
-	sudo -H python3 -m pip install -U empy pyparsing
-else
-	sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty 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 -qq
-	sudo apt-get install cmake python3 python3-pip python3-empy python3-pyparsing python3-setuptools wget libpoco-dev
-	sudo -H python3 -m pip install -U pyparsing
-endif
-	python3 --version
diff --git a/.travis/wait_for_apt.sh b/.travis/wait_for_apt.sh
new file mode 100644
index 00000000..8b3083fe
--- /dev/null
+++ b/.travis/wait_for_apt.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+ while sleep 1; do
+    if [ $(pgrep apt | wc -l) -lt 1 ] ; then
+        echo "apt process done"
+        break
+    else
+        echo "apt process is not done yet"
+    fi
+done