diff --git a/.travis.yml b/.travis.yml
index 7d16d0d..05fbc71 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,37 +1,24 @@
-sudo: required
-dist: trusty
+os: linux
+dist: bionic
 language: generic
-compiler:
-  - gcc
+services:
+  - docker
 env:
-  global:
-    - CATKIN_WS=~/catkin_ws
-    - CATKIN_WS_SRC=${CATKIN_WS}/src
   matrix:
-    - CI_ROS_DISTRO="indigo"
-    - CI_ROS_DISTRO="jade"
-
-branches:
-  only:
-    - master
-    - develop
+    - CI_ROS_DISTRO="kinetic"
+    - CI_ROS_DISTRO="melodic"
+    - CI_ROS_DISTRO="noetic"
 
 install:
-  - 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 -qq -y python-rosdep python-catkin-tools
-  - sudo rosdep init
-  - rosdep update
-  - rosdep install --from-paths ./ -i -y --rosdistro $CI_ROS_DISTRO
+  - docker pull ros:${CI_ROS_DISTRO}-ros-core
+  - docker run --name ci_runner -i -d --rm -v $(pwd):/catkin_ws/src ros:${CI_ROS_DISTRO}-ros-core
+  - docker exec ci_runner /bin/bash -c "apt update; apt install -y build-essential"
+  - if [ "${CI_ROS_DISTRO}" == "noetic" ]; then docker exec ci_runner /bin/bash -c "apt install -y python3-rosdep python3-catkin-tools python3-osrf-pycommon"; fi
+  - if [ "${CI_ROS_DISTRO}" != "noetic" ]; then docker exec ci_runner /bin/bash -c "apt install -y python-rosdep python-catkin-tools"; fi
+  - docker exec ci_runner /bin/bash -c "source ./ros_entrypoint.sh; rosdep init; rosdep update; rosdep install --from-paths /catkin_ws/src --ignore-src -y"
 
 script:
-  - source /opt/ros/$CI_ROS_DISTRO/setup.bash
-  - mkdir -p $CATKIN_WS_SRC
-  - ln -s $TRAVIS_BUILD_DIR $CATKIN_WS_SRC
-  - cd $CATKIN_WS
-  - catkin init
-  - catkin config --install
-  - catkin build --limit-status-rate 0.1 --no-notify -DCMAKE_BUILD_TYPE=Release
-  - catkin build --limit-status-rate 0.1 --no-notify --make-args tests
-  - catkin run_tests
+  - docker exec ci_runner /bin/bash -c "source ./ros_entrypoint.sh; cd /catkin_ws; catkin init; catkin config --install"
+  - docker exec ci_runner /bin/bash -c "source ./ros_entrypoint.sh; cd /catkin_ws; catkin build --limit-status-rate 0.1 --no-notify -DCMAKE_BUILD_TYPE=Release"
+  - docker exec ci_runner /bin/bash -c "source ./ros_entrypoint.sh; cd /catkin_ws; catkin build --limit-status-rate 0.1 --no-notify --make-args tests"
+  - docker exec ci_runner /bin/bash -c "source ./ros_entrypoint.sh; cd /catkin_ws; catkin run_tests"
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 163132c..f433129 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(async_web_server_cpp)
 
 ## Find catkin macros and libraries
diff --git a/package.xml b/package.xml
index 882fbca..60c5640 100644
--- a/package.xml
+++ b/package.xml
@@ -1,4 +1,4 @@
-<package format="2">
+<package format="3">
   <name>async_web_server_cpp</name>
   <version>0.0.3</version>
   <description>Asynchronous Web/WebSocket Server in C++</description>
@@ -23,5 +23,6 @@
   <test_depend>rostest</test_depend>
   <test_depend>rospy</test_depend>
   <test_depend>roslib</test_depend>
-  <test_depend>python-websocket</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION==2">python-websocket</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION==3">python3-websocket</test_depend>
 </package>
diff --git a/src/http_connection.cpp b/src/http_connection.cpp
index 72e94e1..23e419b 100644
--- a/src/http_connection.cpp
+++ b/src/http_connection.cpp
@@ -134,6 +134,7 @@ void HttpConnection::write_pending()
 void HttpConnection::handle_write(const boost::system::error_code &e,
                                   std::vector<ResourcePtr> resources)
 {
+  (void) resources;
   boost::mutex::scoped_lock lock(write_mutex_);
   write_in_progress_ = false;
   if (!e)
diff --git a/src/http_reply.cpp b/src/http_reply.cpp
index 92b6840..efd1990 100644
--- a/src/http_reply.cpp
+++ b/src/http_reply.cpp
@@ -279,6 +279,9 @@ static bool serveFromFile(HttpReply::status_type status, const std::string& file
 }
 bool FileHttpRequestHandler::operator()(const HttpRequest &request, boost::shared_ptr<HttpConnection> connection, const char* begin, const char* end)
 {
+  (void) request;
+  (void) begin;
+  (void) end;
   return serveFromFile(status_, filename_, headers_, connection);
 }
 
@@ -349,9 +352,7 @@ bool FilesystemHttpRequestHandler::operator()(const HttpRequest &request, boost:
       return false;
     }
   }
-  else {
-    return false;
-  }
+  return false;
 }
 
 
@@ -383,6 +384,9 @@ StaticHttpRequestHandler::StaticHttpRequestHandler(HttpReply::status_type status
 
 bool StaticHttpRequestHandler::operator()(const HttpRequest &request, boost::shared_ptr<HttpConnection> connection, const char* begin, const char* end)
 {
+  (void) request;
+  (void) begin;
+  (void) end;
   reply_builder_.write(connection);
   connection->write(content_string_);
   return true;
diff --git a/src/http_request.cpp b/src/http_request.cpp
index 7fe52e6..ce696e2 100644
--- a/src/http_request.cpp
+++ b/src/http_request.cpp
@@ -23,7 +23,7 @@ bool HttpRequest::parse_uri()
       BOOST_FOREACH(const std::string & pair_string, pair_strings)
       {
         std::vector<std::string> pair_data;
-        const int eq_index = pair_string.find_first_of('=');
+        const size_t eq_index = pair_string.find_first_of('=');
         if (eq_index == std::string::npos)
         {
           if (pair_string.size() > 0)
diff --git a/src/http_request_handler.cpp b/src/http_request_handler.cpp
index a949342..35d1e19 100644
--- a/src/http_request_handler.cpp
+++ b/src/http_request_handler.cpp
@@ -45,7 +45,7 @@ void HttpRequestHandlerGroup::addHandler(HandlerPredicate predicate, HttpServerR
 
 bool HttpRequestHandlerGroup::operator()(const HttpRequest &request, boost::shared_ptr<HttpConnection> connection, const char* begin, const char* end)
 {
-  for (int i = 0; i < handlers_.size(); ++i)
+  for (size_t i = 0; i < handlers_.size(); ++i)
   {
     std::pair<HandlerPredicate, HttpServerRequestHandler> &handler = handlers_[i];
     if (handler.first(request))
@@ -87,7 +87,7 @@ class BodyCollectingConnection : public boost::enable_shared_from_this<BodyColle
     std::string chunk(begin, end-begin);
     body_stream_ << chunk;
     received_length_ += chunk.length();
-    if(received_length_ >= length_) {
+    if(received_length_ >= size_t(length_)) {
       handler_(request_, connection_, body_stream_.str().substr(0, length_));
     }
     else {
diff --git a/src/websocket_message.cpp b/src/websocket_message.cpp
index 038deb3..74a2609 100644
--- a/src/websocket_message.cpp
+++ b/src/websocket_message.cpp
@@ -194,7 +194,7 @@ boost::tribool WebsocketFrameParser::consume(WebsocketFrame& frame, char input)
     //unmask the frame
     if (frame.header.mask)
     {
-      for (int i = 0; i < frame.length; ++i)
+      for (uint64_t i = 0; i < frame.length; ++i)
       {
         frame.content[i] = frame.content[i] ^ frame.mask[i % 4];
       }
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index f42bd54..f127373 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,5 +1,6 @@
 add_executable(test_web_server EXCLUDE_FROM_ALL test_web_server.cpp)
 target_link_libraries(test_web_server ${PROJECT_NAME} ${catkin_LIBRARIES})
+target_include_directories(test_web_server PRIVATE ${catkin_INCLUDE_DIRS})
 
 if(TARGET tests)
   add_dependencies(tests
diff --git a/test/simple_http_requests_test.py b/test/simple_http_requests_test.py
index 4a5e5f3..9d1e738 100755
--- a/test/simple_http_requests_test.py
+++ b/test/simple_http_requests_test.py
@@ -1,6 +1,10 @@
 #! /usr/bin/env python
 
-import httplib
+import sys
+if sys.version_info > (3,):
+    import http.client as httplib
+else:
+    import httplib
 import rospy
 import unittest
 import time
@@ -48,17 +52,17 @@ def test_default_action(self):
         self.conn.request("GET", "/a_static_response")
         response = self.conn.getresponse()
         self.assertEqual(200, response.status)
-        self.assertEqual("A RESPONSE", response.read())
+        self.assertEqual(b"A RESPONSE", response.read())
 
     def test_http_echo1(self):
-        test_content = "hello HELLO"*1000 # make sure to exceed MTU
+        test_content = b"hello HELLO"*1000 # make sure to exceed MTU
         self.conn.request("GET", "/http_body_echo", test_content)
         response = self.conn.getresponse()
         self.assertEqual(200, response.status)
         self.assertEqual(test_content, response.read())
 
     def test_http_echo2(self):
-        test_content = "THIS is A test"*1000 # make sure to exceed MTU
+        test_content = b"THIS is A test"*1000 # make sure to exceed MTU
         self.conn.request("POST", "/http_body_echo", test_content)
         response = self.conn.getresponse()
         self.assertEqual(200, response.status)
@@ -68,25 +72,25 @@ def test_http_path_echo(self):
         self.conn.request("GET", "/http_path_echo/this_is_a_test")
         response = self.conn.getresponse()
         self.assertEqual(200, response.status)
-        self.assertEqual("/http_path_echo/this_is_a_test", response.read())
+        self.assertEqual(b"/http_path_echo/this_is_a_test", response.read())
 
     def test_http_query_echo(self):
         self.conn.request("GET", "/http_query_echo?hello=1&b=test&c=10")
         response = self.conn.getresponse()
         self.assertEqual(200, response.status)
-        self.assertEqual("b=test\nc=10\nhello=1\n", response.read())
+        self.assertEqual(b"b=test\nc=10\nhello=1\n", response.read())
 
     def test_file(self):
         self.conn.request("GET", "/test_file")
         response = self.conn.getresponse()
         self.assertEqual(200, response.status)
-        self.assertEqual("<html></html>\n", response.read())
+        self.assertEqual(b"<html></html>\n", response.read())
 
     def test_file_from_filesystem(self):
         self.conn.request("GET", "/test_files/test_dir/test_file.txt")
         response = self.conn.getresponse()
         self.assertEqual(200, response.status)
-        self.assertEqual("test\n", response.read())
+        self.assertEqual(b"test\n", response.read())
 
     def test_directory_listing_forbidden_from_filesystem1(self):
         self.conn.request("GET", "/test_files/test_dir/")
diff --git a/test/websocket_test.py b/test/websocket_test.py
index 67516d9..71afb7f 100755
--- a/test/websocket_test.py
+++ b/test/websocket_test.py
@@ -20,15 +20,15 @@ def test_ok(self):
         self.ws.send("hi")
         self.assertEqual("hi", self.ws.recv())
 
-        self.ws.ping("test ping")
+        self.ws.ping(b"test ping")
         ping_echo = self.ws.recv_frame()
         self.assertEqual(9, ping_echo.opcode)
-        self.assertEqual("test ping", ping_echo.data)
+        self.assertEqual(b"test ping", ping_echo.data)
 
-        self.ws.pong("test pong")
+        self.ws.pong(b"test pong")
         pong_echo = self.ws.recv_frame()
         self.assertEqual(10, pong_echo.opcode)
-        self.assertEqual("test pong", pong_echo.data)
+        self.assertEqual(b"test pong", pong_echo.data)
 
 if __name__ == '__main__':
     time.sleep(1) # ensure server is up