diff --git a/.travis.rosinstall b/.travis.rosinstall.indigo
similarity index 91%
rename from .travis.rosinstall
rename to .travis.rosinstall.indigo
index bb55c185..4a4fccca 100644
--- a/.travis.rosinstall
+++ b/.travis.rosinstall.indigo
@@ -28,6 +28,3 @@
 - git:
     uri: https://github.com/start-jsk/rtmros_common
     local-name: rtm-ros-robotics/rtmros_common
-- git:
-    uri: https://github.com/start-jsk/rtmros_tutorials
-    local-name: rtm-ros-robotics/rtmros_tutorials
diff --git a/.travis.rosinstall.kinetic b/.travis.rosinstall.kinetic
new file mode 100644
index 00000000..44540c65
--- /dev/null
+++ b/.travis.rosinstall.kinetic
@@ -0,0 +1,4 @@
+# Dependencies of hrpsys_gazebo_tutorials, but not released in kinetic
+- git:
+    local-name: rtmros_gazebo
+    uri: https://github.com/start-jsk/rtmros_gazebo.git
diff --git a/.travis.yml b/.travis.yml
index 034d17d2..03dabf06 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -20,9 +20,10 @@ env:
   matrix:
     - ROS_DISTRO=indigo  USE_DEB=true
     - ROS_DISTRO=indigo  USE_DEB=false NOT_TEST_INSTALL=true
+    - ROS_DISTRO=kinetic USE_DEB=false
 matrix:
-  allow_failures:
-    - env: ROS_DISTRO=indigo  USE_DEB=false NOT_TEST_INSTALL=true
+  # allow_failures:
+  #   - env: ROS_DISTRO=indigo  USE_DEB=false NOT_TEST_INSTALL=true
 notifications:
   email:
     recipients:
diff --git a/hrpsys_ros_bridge_tutorials/test/test_hrpsys_pa10.launch b/hrpsys_ros_bridge_tutorials/test/test_hrpsys_pa10.launch
index 7512b4ea..14c1bc69 100644
--- a/hrpsys_ros_bridge_tutorials/test/test_hrpsys_pa10.launch
+++ b/hrpsys_ros_bridge_tutorials/test/test_hrpsys_pa10.launch
@@ -4,11 +4,14 @@
   <arg name="GUI" default="false" />
   <arg name="TIME_LIMIT" default="300"/>
 
+  <!-- See https://github.com/start-jsk/rtmros_common/issues/416#issuecomment-46846623 -->
+  <node name="start_omninames" pkg="rtmbuild" type="start_omninames.sh" args="2809" />
+
   <include file="$(find hrpsys_ros_bridge_tutorials)/launch/pa10_startup.launch" >
     <arg name="GUI" default="$(arg GUI)" />
     <arg name="corbaport" default="2809" />
   </include>
 
-  <test test-name="test_samplerobot_hrpsys" pkg="hrpsys_ros_bridge_tutorials" type="test_hrpsys.py" args="HRP1\(Robot\)0 9"
+  <test test-name="test_pa10_hrpsys" pkg="hrpsys_ros_bridge_tutorials" type="test_hrpsys.py" args="HRP1\(Robot\)0 9"
         retry="4" />
 </launch>