diff --git a/.travis b/.travis
index 889eedc4c..4b6ba1f40 160000
--- a/.travis
+++ b/.travis
@@ -1 +1 @@
-Subproject commit 889eedc4c759170c9b0021b5aa1d5a1721051c67
+Subproject commit 4b6ba1f40b50d7b3536a84c9b2b34cbc36f3e22f
diff --git a/.travis.yml b/.travis.yml
index 8c9dbb49a..b9752d16f 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -7,9 +7,14 @@ compiler:
   - gcc
 sudo: required
 env:
-  - ROS_DISTRO=hydro  ROSWS=wstool BUILDER=catkin    USE_DEB=true  ROS_PARALLEL_JOBS="-j2 -l2"
-  - ROS_DISTRO=indigo ROSWS=wstool BUILDER=catkin   USE_DEB=true  ROS_PARALLEL_JOBS="-j8"
-  # - ROS_DISTRO=jade ROSWS=wstool BUILDER=catkin   USE_DEB=true  ROS_PARALLEL_JOBS="-j8"
+  global:
+    - ROS_PARALLEL_TEST_JOBS="-j1"
+    - CATKIN_PARALLEL_TEST_JOBS="-p1"
+    - GIT_SSL_NO_VERIFY=1 # http://stackoverflow.com/questions/21181231/server-certificate-verification-failed-cafile-etc-ssl-certs-ca-certificates-c
+  matrix:
+    - ROS_DISTRO=hydro  ROSWS=wstool BUILDER=catkin   USE_DEB=true  ROS_PARALLEL_JOBS="-j2 -l2"
+    - ROS_DISTRO=indigo ROSWS=wstool BUILDER=catkin   USE_DEB=true  ROS_PARALLEL_JOBS="-j8"
+    # - ROS_DISTRO=jade ROSWS=wstool BUILDER=catkin   USE_DEB=true  ROS_PARALLEL_JOBS="-j8"
 script: source .travis/travis.sh
 notifications:
   email:
diff --git a/3rdparty/downward/CMakeLists.txt b/3rdparty/downward/CMakeLists.txt
index d41cf1277..fb56c1dd3 100644
--- a/3rdparty/downward/CMakeLists.txt
+++ b/3rdparty/downward/CMakeLists.txt
@@ -7,7 +7,8 @@ catkin_package()
 
 include(ExternalProject)
 externalproject_add(downward
-  URL https://cdn.rawgit.com/jsk-ros-pkg/archives/master/Fast-Downward-f33d3b65601f.tar.gz
+  URL http://cdn.rawgit.com/jsk-ros-pkg/archives/master/Fast-Downward-f33d3b65601f.tar.gz
+  TIMEOUT 120
   CONFIGURE_COMMAND ""
   BUILD_COMMAND cd src && ./build_all DOWNWARD_BITWIDTH=native
   INSTALL_COMMAND bash -c "cp -rf --parents src/{validate,plan,preprocess/preprocess,search/downward*,search/unitcost,search/portfolio.py,translate} ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}"
diff --git a/3rdparty/downward/package.xml b/3rdparty/downward/package.xml
index e7bb240a4..5ac00a9f3 100644
--- a/3rdparty/downward/package.xml
+++ b/3rdparty/downward/package.xml
@@ -13,6 +13,7 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>ca-certificates</build_depend>
   <build_depend>python</build_depend>
   <build_depend>flex</build_depend>
   <build_depend>bison</build_depend>
diff --git a/3rdparty/mini_maxwell/cfg/DRCEnvironment.cfg b/3rdparty/mini_maxwell/cfg/DRCEnvironment.cfg
index 3cccdc901..71ac4239c 100755
--- a/3rdparty/mini_maxwell/cfg/DRCEnvironment.cfg
+++ b/3rdparty/mini_maxwell/cfg/DRCEnvironment.cfg
@@ -3,13 +3,7 @@
 # set up parameters that we care about
 PACKAGE = 'mini_maxwell'
 
-try:
-    import imp
-    imp.find_module(PACKAGE)
-    from dynamic_reconfigure.parameter_generator_catkin import *;
-except:
-    import roslib; roslib.load_manifest(PACKAGE)
-    from dynamic_reconfigure.parameter_generator import *;
+from dynamic_reconfigure.parameter_generator_catkin import *;
 
 gen = ParameterGenerator ()
 
diff --git a/3rdparty/mini_maxwell/cfg/RosClient.cfg b/3rdparty/mini_maxwell/cfg/RosClient.cfg
index 2c7d1eac1..534dfdd84 100755
--- a/3rdparty/mini_maxwell/cfg/RosClient.cfg
+++ b/3rdparty/mini_maxwell/cfg/RosClient.cfg
@@ -3,13 +3,7 @@
 # set up parameters that we care about
 PACKAGE = 'mini_maxwell'
 
-try:
-    import imp
-    imp.find_module(PACKAGE)
-    from dynamic_reconfigure.parameter_generator_catkin import *;
-except:
-    import roslib; roslib.load_manifest(PACKAGE)
-    from dynamic_reconfigure.parameter_generator import *;
+from dynamic_reconfigure.parameter_generator_catkin import *;
 
 gen = ParameterGenerator ()
 
diff --git a/opt_camera/cfg/OptNM33Camera.cfg b/opt_camera/cfg/OptNM33Camera.cfg
index d43083450..a98e8a6eb 100755
--- a/opt_camera/cfg/OptNM33Camera.cfg
+++ b/opt_camera/cfg/OptNM33Camera.cfg
@@ -3,13 +3,7 @@
 # Declare parameters that control opt nm3x camera
 
 PACKAGE="opt_camera"
-try:
-    import imp
-    imp.find_module(PACKAGE)
-    from dynamic_reconfigure.parameter_generator_catkin import *
-except:
-    import roslib; roslib.load_manifest(PACKAGE)
-    from dynamic_reconfigure.parameter_generator import *
+from dynamic_reconfigure.parameter_generator_catkin import *
 
 from driver_base.msg import SensorLevels
 
diff --git a/pgm_learner/package.xml b/pgm_learner/package.xml
index 1b1263bdf..f7f0e08ec 100644
--- a/pgm_learner/package.xml
+++ b/pgm_learner/package.xml
@@ -10,9 +10,11 @@
 
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>rospy</build_depend>
+  <build_depend>python-scipy</build_depend>
   <build_depend>message_generation</build_depend>
   <run_depend>python-libpgm-pip</run_depend>
   <run_depend>rospy</run_depend>
+  <run_depend>python-scipy</run_depend>
   <run_depend>message_runtime</run_depend>
   <test_depend>rostest</test_depend>
   <export>