diff --git a/.travis.yml b/.travis.yml
index 8e2530d..0204f00 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -4,14 +4,29 @@ branches:
   except:
     - gh-pages
 
+env:
+  - ROS_DISTRO=indigo
+  - ROS_DISTRO=kinetic
+  # Not LTS
+  - ROS_DISTRO=lunar
+
 python:
+  # always test python2 (default supported python version for ROS1)
   - 2.7
-  - 3.4
-  - 3.5
+  # always test latest python3 (to guarantee recent python support)
   - 3.6
   #- pypy
   #- pypy3
 
+# Add specific python3 versions
+matrix:
+  include:
+    # explicitely matching python version to the version on the ubuntu distro supported by the ROS LTS distro
+    - python: 3.4
+      env: ROS_DISTRO=indigo
+    - python: 3.5
+      env: ROS_DISTRO=kinetic
+
 before_install:
 
 install:
diff --git a/dev-requirements.txt b/requirements/indigo.txt
similarity index 87%
rename from dev-requirements.txt
rename to requirements/indigo.txt
index 31ae007..80fb301 100644
--- a/dev-requirements.txt
+++ b/requirements/indigo.txt
@@ -11,4 +11,4 @@ numpy>=1.8.2  # from trusty version
 
 # ros dependencies (necessary when running tests from install)
 -e git+https://github.com/asmodehn/genmsg.git@setuptools#egg=ros_genmsg
--e git+https://github.com/asmodehn/genpy.git@setuptools-kinetic-py3#egg=ros_genpy
+-e git+https://github.com/asmodehn/genpy.git@setuptools#egg=ros_genpy
diff --git a/requirements/kinetic.txt b/requirements/kinetic.txt
new file mode 100644
index 0000000..25fd621
--- /dev/null
+++ b/requirements/kinetic.txt
@@ -0,0 +1,14 @@
+gitchangelog
+twine
+pytest>=2.8.0  # as per hypothesis requirement (careful with 2.5.1 on trusty)
+pytest-xdist  # for --boxed (careful with the version it will be moved out of xdist)
+hypothesis>=3.0.1  # to target xenial LTS version
+numpy>=1.8.2  # from trusty version
+
+# source access to latest filefinder and rosimport from git ...
+-e git+https://github.com/asmodehn/filefinder2.git#egg=filefinder2
+-e git+https://github.com/asmodehn/rosimport.git#egg=rosimport
+
+# ros dependencies (necessary when running tests from install)
+-e git+https://github.com/asmodehn/genmsg.git@setuptools#egg=ros_genmsg
+-e git+https://github.com/asmodehn/genpy.git@setuptools-kinetic#egg=ros_genpy
diff --git a/requirements/lunar.txt b/requirements/lunar.txt
new file mode 100644
index 0000000..25fd621
--- /dev/null
+++ b/requirements/lunar.txt
@@ -0,0 +1,14 @@
+gitchangelog
+twine
+pytest>=2.8.0  # as per hypothesis requirement (careful with 2.5.1 on trusty)
+pytest-xdist  # for --boxed (careful with the version it will be moved out of xdist)
+hypothesis>=3.0.1  # to target xenial LTS version
+numpy>=1.8.2  # from trusty version
+
+# source access to latest filefinder and rosimport from git ...
+-e git+https://github.com/asmodehn/filefinder2.git#egg=filefinder2
+-e git+https://github.com/asmodehn/rosimport.git#egg=rosimport
+
+# ros dependencies (necessary when running tests from install)
+-e git+https://github.com/asmodehn/genmsg.git@setuptools#egg=ros_genmsg
+-e git+https://github.com/asmodehn/genpy.git@setuptools-kinetic#egg=ros_genpy
diff --git a/tox.ini b/tox.ini
index d3f7bbb..54e309b 100644
--- a/tox.ini
+++ b/tox.ini
@@ -1,30 +1,40 @@
 # content of: tox.ini , put in same dir as setup.py
 [tox]
-envlist = py27, py34, py35, py36
+# Only considering ROS LTS for simplicity
+envlist = py27-ros1{indigo,kinetic,lunar}, py34-ros1indigo, py35-ros1kinetic, py36-ros1{indigo,kinetic,lunar}
 
 #, pypy
 #, pypy3
 
 [travis]
-2.7 = py27
-3.4 = py34
-3.5 = py35
-3.6 = py36
+python =
+  # we test every current ROS1 distro on python 2.7 (official python support for ROS1)
+  2.7 : py27
+  # specific old python supported natively on ubuntu/ROS LTS distro
+  3.4 : py34
+  3.5 : py35
+  # we test every current ROS1 distro on latest python (to ensure support from pure python)
+  3.6 : py36
 
 # not tested yet
 #pypy = pypy
 #pypy3 = pypy3
 
-# Note : We can depend on travis matrix if needed
-;[travis:env]
-;DJANGO =
-;  1.7: django17
-;  1.8: django18, docs
+# We depend on travis matrix
+[travis:env]
+ROS_DISTRO =
+  kinetic: ros1kinetic
+  indigo: ros1indigo
+  lunar: ros1lunar
 
 [testenv]
+
+# Dependencies matching the version in each ROS distro
 deps =
     # TODO : check why / how install_requires are installed or not in tox environments...
-    -rdev-requirements.txt
+    ros1indigo: -rrequirements/indigo.txt
+    ros1kinetic: -rrequirements/kinetic.txt
+    ros1lunar: -rrequirements/lunar.txt
 
 # to always force recreation and avoid unexpected side effects
 recreate=True