diff --git a/README.md b/README.md
index 458fee2e..6d4c2c9f 100644
--- a/README.md
+++ b/README.md
@@ -40,6 +40,7 @@ env:
     - TEST=clang-format    # check code formatting for compliance to .clang-format rules
     - TEST=clang-tidy-fix  # perform static code analysis and compliance check against .clang-tidy rules
     - TEST=catkin_lint     # perform catkin_lint checks
+    - TEST=code-coverage   # perform code coverage report
     # pull in packages from a local .rosinstall file
     - UPSTREAM_WORKSPACE=moveit.rosinstall
     # pull in packages from a remote .rosinstall file and run for a non-default ROS_DISTRO
@@ -143,3 +144,23 @@ It's also possible to run the script without using docker. To this end, issue th
     export ROS_WS=/tmp/ros_ws        # define a new ROS workspace location
     mkdir $ROS_WS                    # and create it
     .moveit_ci/travis.sh
+
+## Enabling codecov.io reporting
+
+For codecov to work you need to build and link your C++ code with specific parameters.  To enable this we use the ROS package [code_coverage](https://github.com/mikeferguson/code_coverage).  Using the `code-coverage` test in your repo requires the following two changes:
+
+1. Add `<test_depend>code_coverage</test_depend>` to your package.xml
+2. Add this to your `CMakeLists.txt`:
+
+```cmake
+# to run: catkin_make -DENABLE_COVERAGE_TESTING=ON package_name_coverage
+if(CATKIN_ENABLE_TESTING AND ENABLE_COVERAGE_TESTING)
+  find_package(code_coverage REQUIRED)   # catkin package ros-*-code-coverage
+  include(CodeCoverage)
+  APPEND_COVERAGE_COMPILER_FLAGS()
+endif()
+```
+
+Then you can use the `code-coverage` test and it will run the script provided by [codecov.io](codecov.io) which runs `gcov` to generate the reports and then compiles them into a report and uploads them to their servers.
+
+If you are using this on a private github repo you will need to set the `CODECOV_TOKEN` enviroment variable in the `global` section of your `.travis.yml` file to the value you can find on the settings page of your project on codecov.io.
diff --git a/test_pkgs/valid/CMakeLists.txt b/test_pkgs/valid/CMakeLists.txt
index b8a8cc10..3ee6a1bc 100644
--- a/test_pkgs/valid/CMakeLists.txt
+++ b/test_pkgs/valid/CMakeLists.txt
@@ -13,3 +13,9 @@ include_directories(
 if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(${PROJECT_NAME} test.cpp)
 endif()
+
+if(CATKIN_ENABLE_TESTING AND ENABLE_COVERAGE_TESTING)
+  find_package(code_coverage REQUIRED)   # catkin package ros-*-code-coverage
+  include(CodeCoverage)
+  APPEND_COVERAGE_COMPILER_FLAGS()
+endif()
diff --git a/test_pkgs/valid/package.xml b/test_pkgs/valid/package.xml
index a401ade1..6e5a2ed1 100644
--- a/test_pkgs/valid/package.xml
+++ b/test_pkgs/valid/package.xml
@@ -11,6 +11,7 @@
 
   <buildtool_depend>catkin</buildtool_depend>
   <test_depend>rosunit</test_depend>
+  <test_depend>code_coverage</test_depend>
 
   <export>
   </export>
diff --git a/travis.sh b/travis.sh
index dbb517b6..92123960 100755
--- a/travis.sh
+++ b/travis.sh
@@ -48,6 +48,13 @@ function docker_cp {
 function run_docker() {
    run_script BEFORE_DOCKER_SCRIPT
 
+    # get ci enviroment parameters to pass into docker for codecov
+    # this is a list of docker parameters to include enviroment variables
+    CI_ENV_PARAMS=`bash <(curl -s https://codecov.io/env)`
+    # The following two varaibles are needed for codecov to work locally
+    export ${VCS_BRANCH_NAME:=$(git rev-parse --abbrev-ref HEAD)}
+    export ${VCS_COMMIT_ID:=$(git rev-parse HEAD)}
+
     # Choose the docker container to use
     if [ -n "${ROS_REPO:=}" ] && [ -n "${DOCKER_IMAGE:=}" ]; then
        echo -e $(colorize YELLOW "DOCKER_IMAGE=$DOCKER_IMAGE overrides ROS_REPO=$ROS_REPO setting")
@@ -79,12 +86,16 @@ function run_docker() {
         -e TEST_PKG \
         -e TEST \
         -e TEST_BLACKLIST \
+        -e TEST_WHITELIST \
         -e WARNINGS_OK \
         -e ABI_BASE_URL \
         -e CC=${CC_FOR_BUILD:-${CC:-cc}} \
         -e CXX=${CXX_FOR_BUILD:-${CXX:-c++}} \
         -e CFLAGS \
         -e CXXFLAGS \
+        -e CCACHE_SLOPPINESS \
+        -e CCACHE_MAXSIZE \
+        $CI_ENV_PARAMS \
         -v $(pwd):/root/$REPOSITORY_NAME \
         -v ${CCACHE_DIR:-$HOME/.ccache}:/root/.ccache \
         -t \
@@ -167,6 +178,9 @@ function run_early_tests() {
          abi)  # abi-checker requires debug symbols
             CMAKE_ARGS="$CMAKE_ARGS -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS_DEBUG=\"-g -Og\""
             ;;
+         code-coverage) # code coverage test requres specific compiler and linker arguments
+            CMAKE_ARGS="$CMAKE_ARGS -DCMAKE_BUILD_TYPE=Debug -DENABLE_COVERAGE_TESTING=ON"
+            ;;
          *)
             echo -e $(colorize RED "Unknown TEST: $t")
             EARLY_RESULT=$(( ${EARLY_RESULT:-0} + 1 ))
@@ -270,8 +284,13 @@ function build_workspace() {
    # Console output fix for: "WARNING: Could not encode unicode characters"
    export PYTHONIOENCODING=UTF-8
 
+   # Set compile flag to improve ccache hit rate
+   export CXXFLAGS="${CXXFLAGS:-} -fdebug-prefix-map=$(pwd)=."
+   export CCACHE_BASEDIR=$(pwd)
+
+   # If test whitelist is set, explicitly build that project
    # For a command that doesn’t produce output for more than 10 minutes, prefix it with travis_run_wait
-   travis_run_wait 60 --title "catkin build" catkin build --no-status --summarize
+   travis_run_wait 60 --title "catkin build ${TEST_WHITELIST:-}" catkin build ${TEST_WHITELIST:-} --no-status --summarize
 
    # Allow to verify ccache usage
    travis_run --title "ccache statistics" ccache -s
@@ -290,6 +309,12 @@ function test_workspace() {
    echo -e $(colorize YELLOW Test blacklist: $(colorize THIN $TEST_BLACKLIST))
    test -n "$TEST_BLACKLIST" && catkin config --blacklist $TEST_BLACKLIST &> /dev/null
 
+   # Consider TEST_WHITELIST
+   TEST_WHITELIST=$(unify_list " ,;" ${TEST_WHITELIST:-})
+   echo -e $(colorize YELLOW Test whitelist: $(colorize THIN $TEST_WHITELIST))
+   test -n "$TEST_WHITELIST" && catkin config --whitelist $TEST_WHITELIST &> /dev/null
+
+
    # Also blacklist external packages
    local all_pkgs source_pkgs blacklist_pkgs
    all_pkgs=$(catkin_topological_order $ROS_WS/src --only-names)
@@ -371,6 +396,12 @@ for t in $(unify_list " ,;" "$TEST") ; do
          (source ${MOVEIT_CI_DIR}/check_abi.sh)
          test $? -eq 0 || result=$(( ${result:-0} + 1 ))
          ;;
+      code-coverage)
+         # redirect output to avoid failures due to filling up logs
+         travis_run --title "codeco1v.io report upload" \
+            bash <(curl -s https://codecov.io/bash) -s $ROS_WS \
+            -R $ROS_WS/src/$REPOSITORY_NAME -g '*/test/*' > /dev/null
+         ;;
    esac
 done
 # Run warnings check
diff --git a/unit_tests.sh b/unit_tests.sh
index 7610ad2c..88ecaf6a 100755
--- a/unit_tests.sh
+++ b/unit_tests.sh
@@ -60,7 +60,7 @@ rosdep() {
 	echo "Dummy rosdep $*"
 }
 
-all_groups="sanity warnings catkin_lint clang-format clang-tidy-fix clang-tidy-check"
+all_groups="sanity warnings catkin_lint clang-format clang-tidy-fix clang-tidy-check code-coverage"
 skip_groups="${SKIP:-}"
 # process options
 while true ; do
@@ -120,6 +120,10 @@ for group in $test_groups ; do
 			run_test 0 $0:$LINENO "clang-tidy-check on 'valid' package, warnings forbidden" TEST_PKG=valid TEST=clang-tidy-check WARNINGS_OK=false
 			run_test 1 $0:$LINENO "clang-tidy-check on 'clang_tidy' package, warnings forbidden" TEST_PKG=clang_tidy TEST=clang-tidy-check WARNINGS_OK=false
 			;;
+		code-coverage)
+			run_test 0 $0:$LINENO "code-coverage on 'valid' package, warnings forbidden" TEST_PKG=valid TEST=code-coverage WARNINGS_OK=false
+			run_test 1 $0:$LINENO "code-coverage on 'warnings' package, warnings forbidden" TEST_PKG=warnings TEST=code-coverage WARNINGS_OK=false
+			;;
 		*) echo -e $(colorize YELLOW "Unknown test group '$group'.")
 			echo "Known groups are: $all_groups" ;;
 	esac