diff --git a/ce_build.sh b/ce_build.sh
new file mode 100755
index 0000000..658f77d
--- /dev/null
+++ b/ce_build.sh
@@ -0,0 +1,27 @@
+#!/bin/bash
+set -e
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+
+# create a shared mount point to put coverage report
+mkdir shared/
+# move travis scripts to share mount so they can be executed within the docker container
+cp -r ${SCRIPT_DIR} shared/
+# get a docker container from OSRF's docker hub
+docker pull ros:"$ROS_DISTRO"-ros-core
+# run docker container
+docker run -v "$PWD/shared:/shared" -e ROS_DISTRO="$ROS_DISTRO" \
+  -e PACKAGE_NAME="$PACKAGE_NAME" \
+  -e ROS_VERSION="$ROS_VERSION" \
+  -e NO_TEST="$NO_TEST" \
+  --name "$ROS_DISTRO"-container \
+  -dit ros:"$ROS_DISTRO"-ros-core /bin/bash
+# make a workspace in the docker container
+docker exec "$ROS_DISTRO"-container /bin/bash -c 'mkdir -p /"$ROS_DISTRO"_ws/src'
+# copy the code over to the docker container
+docker cp $TRAVIS_BUILD_DIR "$ROS_DISTRO"-container:/"$ROS_DISTRO"_ws/src/
+# execute build scripts and run test
+docker exec "$ROS_DISTRO"-container /bin/bash \
+  -c "sh /shared/$(basename ${SCRIPT_DIR})/"'ros"$ROS_VERSION"_build.sh' || travis_terminate 1;
+# upload coverage report to codecov
+bash <(curl -s https://codecov.io/bash) -Z
diff --git a/ros1_build.sh b/ros1_build.sh
old mode 100644
new mode 100755
diff --git a/ros1_sa_build.sh b/ros1_sa_build.sh
old mode 100644
new mode 100755
diff --git a/ros2_build.sh b/ros2_build.sh
old mode 100644
new mode 100755