diff --git a/.travis.yml b/.travis.yml
index 41286c6..f5072a7 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -22,7 +22,6 @@ cache:
     - /home/travis/docker/
 
 env:
-  - ROS_RELEASE=kinetic DOCKER_CACHE_FILE=/home/travis/docker/kinetic-cache.tar.gz
   - ROS_RELEASE=melodic DOCKER_CACHE_FILE=/home/travis/docker/melodic-cache.tar.gz
   - ROS_RELEASE=noetic DOCKER_CACHE_FILE=/home/travis/docker/noetic-cache.tar.gz
 
@@ -34,5 +33,5 @@ before_install:
 
 install: true
 script:
-  - docker build ${TRAVIS_BUILD_DIR} -t cartographer_ros:${ROS_RELEASE} -f Dockerfile.${ROS_RELEASE} --build-arg github_token=${GITHUB_TOKEN}
+  - scripts/build_docker.sh $GITHUB_TOKEN
   - scripts/save_docker_cache.sh
diff --git a/Dockerfile.kinetic b/Dockerfile.kinetic
deleted file mode 100644
index 7e2bb8d..0000000
--- a/Dockerfile.kinetic
+++ /dev/null
@@ -1,80 +0,0 @@
-# Copyright 2016 The Cartographer Authors
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#      http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-FROM osrf/ros:kinetic-desktop
-
-ARG CARTOGRAPHER_VERSION=master
-
-# We require a GitHub access token to be passed.
-ARG github_token
-
-# Xenial's base image doesn't ship with sudo.
-RUN apt-get update && apt-get install -y sudo
-
-# First, we invalidate the entire cache if cartographer-project/cartographer has
-# changed. This file's content changes whenever master changes. See:
-# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
-ADD https://api.github.com/repos/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \
-    cartographer_ros/cartographer_version.json
-
-# wstool needs the updated rosinstall file to clone the correct repos.
-COPY cartographer_ros.rosinstall cartographer_ros/
-COPY scripts/prepare_catkin_workspace.sh cartographer_ros/scripts/
-RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
-    cartographer_ros/scripts/prepare_catkin_workspace.sh
-
-# rosdep needs the updated package.xml files to install the correct debs.
-COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ros/
-COPY cartographer_ros_msgs/package.xml catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
-COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_rviz/
-COPY scripts/install_debs.sh cartographer_ros/scripts/
-RUN cartographer_ros/scripts/install_debs.sh
-
-# Install Abseil and proto3.
-RUN /catkin_ws/src/cartographer/scripts/install_abseil.sh
-RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
-
-# Build, install, and test all packages individually to allow caching. The
-# ordering of these steps must match the topological package ordering as
-# determined by Catkin.
-COPY scripts/install.sh cartographer_ros/scripts/
-COPY scripts/catkin_test_results.sh cartographer_ros/scripts/
-
-RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
-    cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
-
-COPY cartographer_ros_msgs catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
-RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs && \
-    cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
-        --catkin-make-args run_tests && \
-    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros_msgs
-
-COPY cartographer_ros catkin_ws/src/cartographer_ros/cartographer_ros/
-RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && \
-    cartographer_ros/scripts/install.sh --pkg cartographer_ros \
-        --catkin-make-args run_tests && \
-    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros
-
-COPY cartographer_rviz catkin_ws/src/cartographer_ros/cartographer_rviz/
-RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \
-    cartographer_ros/scripts/install.sh --pkg cartographer_rviz \
-        --catkin-make-args run_tests && \
-    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz
-
-COPY scripts/ros_entrypoint.sh /
-
-RUN rm -rf /var/lib/apt/lists/*
-# A BTRFS bug may prevent us from cleaning up these directories.
-# https://btrfs.wiki.kernel.org/index.php/Problem_FAQ#I_cannot_delete_an_empty_directory
-RUN rm -rf cartographer_ros catkin_ws || true
diff --git a/Dockerfile.melodic b/Dockerfile.melodic
index 90f6f69..782645a 100644
--- a/Dockerfile.melodic
+++ b/Dockerfile.melodic
@@ -15,23 +15,20 @@
 FROM osrf/ros:melodic-desktop
 
 ARG CARTOGRAPHER_VERSION=master
-
-# We require a GitHub access token to be passed.
-ARG github_token
+ARG CARTOGRAPHER_SHA=LATEST
 
 # Bionic's base image doesn't ship with sudo.
 RUN apt-get update && apt-get install -y sudo
 
-# First, we invalidate the entire cache if cartographer-project/cartographer has
-# changed. This file's content changes whenever master changes. See:
-# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
-ADD https://api.github.com/repos/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \
-    cartographer_ros/cartographer_version.json
-
 # wstool needs the updated rosinstall file to clone the correct repos.
 COPY cartographer_ros.rosinstall cartographer_ros/
 COPY scripts/prepare_catkin_workspace.sh cartographer_ros/scripts/
-RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
+
+# First, we invalidate the entire cache if cartographer-project/cartographer has
+# changed. CARTOGRAPHER_SHA ARG content changes whenever master changes. See:
+# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
+RUN CARTOGRAPHER_SHA=$CARTOGRAPHER_SHA \
+    CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
     cartographer_ros/scripts/prepare_catkin_workspace.sh && \
     sed -i -e "s%<depend>libabsl-dev</depend>%<\!--<depend>libabsl-dev</depend>-->%g" catkin_ws/src/cartographer/package.xml
 
diff --git a/Dockerfile.noetic b/Dockerfile.noetic
index 18eded2..aaceb19 100644
--- a/Dockerfile.noetic
+++ b/Dockerfile.noetic
@@ -15,9 +15,7 @@
 FROM osrf/ros:noetic-desktop
 
 ARG CARTOGRAPHER_VERSION=master
-
-# We require a GitHub access token to be passed.
-ARG github_token
+ARG CARTOGRAPHER_SHA=LATEST
 
 # Prevent any interaction required by apt-get.
 # https://stackoverflow.com/questions/22466255
@@ -26,16 +24,15 @@ ARG DEBIAN_FRONTEND=noninteractive
 # ROS Noetic's base image doesn't ship with sudo and git.
 RUN apt-get update && apt-get install -y sudo git
 
-# First, we invalidate the entire cache if cartographer-project/cartographer has
-# changed. This file's content changes whenever master changes. See:
-# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
-ADD https://api.github.com/repos/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \
-    cartographer_ros/cartographer_version.json
-
 # wstool needs the updated rosinstall file to clone the correct repos.
 COPY cartographer_ros.rosinstall cartographer_ros/
 COPY scripts/prepare_catkin_workspace.sh cartographer_ros/scripts/
-RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
+
+# First, we invalidate the entire cache if cartographer-project/cartographer has
+# changed. CARTOGRAPHER_SHA ARG content changes whenever master changes. See:
+# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
+RUN CARTOGRAPHER_SHA=$CARTOGRAPHER_SHA \
+    CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
     cartographer_ros/scripts/prepare_catkin_workspace.sh && \
     sed -i -e "s%<depend>libabsl-dev</depend>%<\!--<depend>libabsl-dev</depend>-->%g" catkin_ws/src/cartographer/package.xml
 
diff --git a/README.rst b/README.rst
index fb72eb6..04e2d87 100644
--- a/README.rst
+++ b/README.rst
@@ -45,10 +45,10 @@ at `our Contribution page`_.
 
 .. _our Contribution page: https://github.com/cartographer-project/cartographer_ros/blob/master/CONTRIBUTING.md
 
-.. |build| image:: https://travis-ci.org/cartographer-project/cartographer_ros.svg?branch=master
+.. |build| image:: https://app.travis-ci.com/cartographer-project/cartographer_ros.svg?branch=master
     :alt: Build Status
     :scale: 100%
-    :target: https://travis-ci.org/cartographer-project/cartographer_ros
+    :target: https://app.travis-ci.com/cartographer-project/cartographer_ros
 .. |docs| image:: https://readthedocs.org/projects/google-cartographer-ros/badge/?version=latest
     :alt: Documentation Status
     :scale: 100%
diff --git a/docs/source/compilation.rst b/docs/source/compilation.rst
index ace433f..9addba5 100644
--- a/docs/source/compilation.rst
+++ b/docs/source/compilation.rst
@@ -23,7 +23,6 @@ The Cartographer ROS requirements are the same as `the ones from Cartographer`_.
 
 The following `ROS distributions`_ are currently supported:
 
-* Kinetic
 * Melodic
 * Noetic
 
@@ -71,8 +70,6 @@ The command 'sudo rosdep init' will print an error if you have already executed
     rosdep update
     rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
 
-    # Only on Ubuntu 16 / ROS Kinetic: src/cartographer/scripts/install_proto3.sh 
-
 Cartographer uses the `abseil-cpp`_ library that needs to be manually installed using this script:
 
 .. code-block:: bash
diff --git a/scripts/build_docker.sh b/scripts/build_docker.sh
new file mode 100755
index 0000000..6541583
--- /dev/null
+++ b/scripts/build_docker.sh
@@ -0,0 +1,32 @@
+#!/bin/bash
+
+# Copyright 2016 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# Cache intermediate Docker layers. For a description of how this works, see:
+# https://giorgos.sealabs.net/docker-cache-on-travis-and-docker-112.html
+
+set -o errexit
+set -o verbose
+set -o pipefail
+
+if [ "$#" -ne 1 ]; then
+  echo "Please provide an access token to $0" 1>&2
+  exit 1
+fi
+token=$1
+
+CARTOGRAPHER_SHA=$(curl -s -H 'Authorization: token ${token}' https://api.github.com/repos/cartographer-project/cartographer/git/refs/heads/master | jq -j '.object.sha')
+
+docker build ${TRAVIS_BUILD_DIR} -t cartographer_ros:${ROS_RELEASE} -f Dockerfile.${ROS_RELEASE} --build-arg CARTOGRAPHER_SHA=${CARTOGRAPHER_SHA}
diff --git a/scripts/install_debs.sh b/scripts/install_debs.sh
index 0af4648..33c3a8f 100755
--- a/scripts/install_debs.sh
+++ b/scripts/install_debs.sh
@@ -34,6 +34,3 @@ cd catkin_ws
 # Install rosdep dependencies.
 rosdep update
 rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
-
-# Update rosconsole-bridge to fix build issue with Docker image for Kinetic
-sudo apt-get install ros-${ROS_DISTRO}-rosconsole-bridge -y