diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 1e5fdee..0f2585c 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,18 +1,26 @@
-image: ros:dashing-ros-base
+image: ros:dashing-ros-base-bionic
 
 variables:
   DOCKER_DRIVER: overlay2
+  GIT_CLONE_PATH: $CI_BUILDS_DIR/src/$CI_PROJECT_NAME/
 
 before_script:
-  - apt update
+  - cd $CI_BUILDS_DIR
+  - apt-get update
+  - apt-get install wget
+  - wget -q https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
+  - vcs import src < ros2.repos
+  - rm -rf src/ros2/rcl/ src/ros2/rclcpp/
+  - git clone -b instrumentation --single-branch https://$DEPLOY_USERNAME_RCL:$DEPLOY_TOKEN_RCL@gitlab.com/boschresearch/ros-wg/tracing/rcl.git
+  - git clone -b instrumentation --single-branch https://$DEPLOY_USERNAME_RCLCPP:$DEPLOY_TOKEN_RCLCPP@gitlab.com/boschresearch/ros-wg/tracing/rclcpp.git
+  - apt-get install --no-install-recommends -y libasio-dev libtinyxml2-dev
   - rosdep update
-  - rosdep install -y --from-paths . -i .
-  - ln -s src
+  - rosdep install --from-paths src --ignore-src --rosdistro dashing -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers"
 
 build:
   script:
-    - colcon build
-    - colcon test
+    - colcon build --symlink-install --packages-up-to tracetools tracetools_test
+    - colcon test --packages-select tracetools tracetools_test
   artifacts:
     paths:
       - install
@@ -21,8 +29,8 @@ build:
       
 build_enabled:
   script:
-    - colcon build --cmake-args -DWITH_LTTNG=ON
-    - colcon test
+    - colcon build --symlink-install --cmake-args " -DWITH_LTTNG=ON" --packages-up-to tracetools tracetools_test
+    - colcon test --packages-select tracetools tracetools_test
   artifacts:
     paths:
       - install
diff --git a/instrumentation.repos b/instrumentation.repos
new file mode 100644
index 0000000..a03675c
--- /dev/null
+++ b/instrumentation.repos
@@ -0,0 +1,9 @@
+repositories:
+  ros2/rcl:
+    type: git
+    url: https://gitlab.com/boschresearch/ros-wg/tracing/rcl.git
+    version: instrumentation
+  ros2/rclcpp:
+    type: git
+    url: https://gitlab.com/boschresearch/ros-wg/tracing/rclcpp.git
+    version: instrumentation