diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
index 1fdc57c70..4abc063d1 100644
--- a/.github/workflows/config.yml
+++ b/.github/workflows/config.yml
@@ -6,6 +6,8 @@ on:
 
 env:
   DISPLAY: ':0.0'
+  # workaround required for checkout@v3, https://github.com/actions/checkout/issues/1590
+  ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
 
 jobs:
   ros:
diff --git a/.travis b/.travis
index 4e8b3cf26..b223c886b 160000
--- a/.travis
+++ b/.travis
@@ -1 +1 @@
-Subproject commit 4e8b3cf2637d593d05106e84edf2e4532677d37c
+Subproject commit b223c886bcda0d96c6c03b0f0ae07da768a00155
diff --git a/.travis.rosinstall.indigo b/.travis.rosinstall.indigo
index b07215c12..19545013d 100644
--- a/.travis.rosinstall.indigo
+++ b/.travis.rosinstall.indigo
@@ -9,5 +9,5 @@
 # we need to avoid pip upgrade
 - git:
     local-name: locusrobotics/catkin_virtualenv
-    uri: https://github.com/locusrobotics/catkin_virtualenv
-    version: 0.2.2
+    uri: https://github.com/locusrobotics/catkin_virtualenv-release
+    version: release/melodic/catkin_virtualenv/0.2.2-0
diff --git a/dialogflow_task_executive/CMakeLists.txt b/dialogflow_task_executive/CMakeLists.txt
index 1717db7dd..f4a206208 100644
--- a/dialogflow_task_executive/CMakeLists.txt
+++ b/dialogflow_task_executive/CMakeLists.txt
@@ -55,7 +55,10 @@ elseif("$ENV{ROS_DISTRO}" STREQUAL "indigo")
     COMMAND cp ${CMAKE_CURRENT_BINARY_DIR}/requirements.txt.indigo ${CMAKE_CURRENT_SOURCE_DIR}/requirements.txt
     WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
   )
-  catkin_generate_virtualenv(PYTHON_INTERPRETER python2)
+  file(DOWNLOAD http://curl.haxx.se/ca/cacert.pem ${CMAKE_BINARY_DIR}/cacert.pem)
+  catkin_generate_virtualenv(PYTHON_INTERPRETER python2
+    # https://stackoverflow.com/questions/25981703/pip-install-fails-with-connection-error-ssl-certificate-verify-failed
+    EXTRA_PIP_ARGS -vvv --cert=${CMAKE_BINARY_DIR}/cacert.pem)
 elseif("$ENV{ROS_DISTRO}" STRGREATER "melodic")
   catkin_generate_virtualenv(
     INPUT_REQUIREMENTS requirements.in.noetic
diff --git a/gdrive_ros/CMakeLists.txt b/gdrive_ros/CMakeLists.txt
index 68e8904bb..dab4abaef 100644
--- a/gdrive_ros/CMakeLists.txt
+++ b/gdrive_ros/CMakeLists.txt
@@ -23,10 +23,20 @@ catkin_package(
   message_runtime
 )
 
+if("$ENV{ROS_DISTRO}" STREQUAL "indigo")
+file(DOWNLOAD http://curl.haxx.se/ca/cacert.pem ${CMAKE_BINARY_DIR}/cacert.pem)
 catkin_generate_virtualenv(
   PYTHON_INTERPRETER python3
   CHECK_VENV FALSE
+  # https://stackoverflow.com/questions/25981703/pip-install-fails-with-connection-error-ssl-certificate-verify-failed
+  EXTRA_PIP_ARGS -vvv --cert=${CMAKE_BINARY_DIR}/cacert.pem
   )
+else()
+catkin_generate_virtualenv(
+  PYTHON_INTERPRETER python3
+  CHECK_VENV FALSE
+  )
+endif()
 
 
 catkin_install_python(PROGRAMS node_scripts/gdrive_server_node.py node_scripts/sample_gdrive_rospy_client.py
diff --git a/respeaker_ros/CMakeLists.txt b/respeaker_ros/CMakeLists.txt
index 9322760c9..d6752f005 100644
--- a/respeaker_ros/CMakeLists.txt
+++ b/respeaker_ros/CMakeLists.txt
@@ -19,6 +19,13 @@ if($ENV{ROS_DISTRO} STRGREATER "melodic")
     PYTHON_INTERPRETER python3
     CHECK_VENV FALSE
     )
+elseif("$ENV{ROS_DISTRO}" STREQUAL "indigo")
+  file(DOWNLOAD http://curl.haxx.se/ca/cacert.pem ${CMAKE_BINARY_DIR}/cacert.pem)
+  catkin_generate_virtualenv(
+    PYTHON_INTERPRETER python2
+    # https://stackoverflow.com/questions/25981703/pip-install-fails-with-connection-error-ssl-certificate-verify-failed
+    EXTRA_PIP_ARGS -vvv --cert=${CMAKE_BINARY_DIR}/cacert.pem
+  )
 else()
   catkin_generate_virtualenv(
     PYTHON_INTERPRETER python2
diff --git a/ros_speech_recognition/CMakeLists.txt b/ros_speech_recognition/CMakeLists.txt
index 9810c3377..ba2d07b93 100644
--- a/ros_speech_recognition/CMakeLists.txt
+++ b/ros_speech_recognition/CMakeLists.txt
@@ -29,7 +29,16 @@ if($ENV{ROS_DISTRO} STREQUAL "indigo" OR
     COMMAND cp ${CMAKE_CURRENT_BINARY_DIR}/requirements.txt.indigo ${CMAKE_CURRENT_SOURCE_DIR}/requirements.txt
     WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
   )
-  catkin_generate_virtualenv(PYTHON_INTERPRETER python2)
+  if("$ENV{ROS_DISTRO}" STREQUAL "indigo")
+    file(DOWNLOAD http://curl.haxx.se/ca/cacert.pem ${CMAKE_BINARY_DIR}/cacert.pem)
+    catkin_generate_virtualenv(
+      PYTHON_INTERPRETER python2
+      # https://stackoverflow.com/questions/25981703/pip-install-fails-with-connection-error-ssl-certificate-verify-failed
+      EXTRA_PIP_ARGS -vvv --cert=${CMAKE_BINARY_DIR}/cacert.pem
+    )
+  else()
+    catkin_generate_virtualenv(PYTHON_INTERPRETER python2)
+  endif()
 else()
 catkin_generate_virtualenv(
   PYTHON_INTERPRETER python3
diff --git a/sesame_ros/CMakeLists.txt b/sesame_ros/CMakeLists.txt
index b154ba71a..2ff28f17e 100644
--- a/sesame_ros/CMakeLists.txt
+++ b/sesame_ros/CMakeLists.txt
@@ -24,6 +24,13 @@ if($ENV{ROS_DISTRO} STRGREATER "melodic")
   catkin_generate_virtualenv(
     PYTHON_INTERPRETER python3
     )
+elseif("$ENV{ROS_DISTRO}" STREQUAL "indigo")
+  file(DOWNLOAD http://curl.haxx.se/ca/cacert.pem ${CMAKE_BINARY_DIR}/cacert.pem)
+  catkin_generate_virtualenv(
+    PYTHON_INTERPRETER python2
+    # https://stackoverflow.com/questions/25981703/pip-install-fails-with-connection-error-ssl-certificate-verify-failed
+    EXTRA_PIP_ARGS -vvv --cert=${CMAKE_BINARY_DIR}/cacert.pem
+  )
 else()
   catkin_generate_virtualenv(
     PYTHON_INTERPRETER python2
diff --git a/switchbot_ros/CMakeLists.txt b/switchbot_ros/CMakeLists.txt
index 9cdd6c183..20160ff79 100644
--- a/switchbot_ros/CMakeLists.txt
+++ b/switchbot_ros/CMakeLists.txt
@@ -28,10 +28,20 @@ generate_messages(
 
 catkin_package()
 
+if("$ENV{ROS_DISTRO}" STREQUAL "indigo")
+file(DOWNLOAD http://curl.haxx.se/ca/cacert.pem ${CMAKE_BINARY_DIR}/cacert.pem)
 catkin_generate_virtualenv(
   PYTHON_INTERPRETER python3
   CHECK_VENV FALSE
+  # https://stackoverflow.com/questions/25981703/pip-install-fails-with-connection-error-ssl-certificate-verify-failed
+  EXTRA_PIP_ARGS -vvv --cert=${CMAKE_BINARY_DIR}/cacert.pem
 )
+else()
+catkin_generate_virtualenv(
+  PYTHON_INTERPRETER python3
+  CHECK_VENV FALSE
+)
+endif()
 
 include_directories()