diff --git a/.travis.yml b/.travis.yml
index a3d844b75c2aa449b9f56788607ceb0b5cb81b19..c8beb76b84af3df632e124d86f2380b1e02a85bd 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -2,22 +2,30 @@ language: python
 python:
   - "2.7"
 sudo: required
-dist: trusty
 compiler:
   - gcc
 # - clang
 env:
   global:
     - secure: "SnIBG/xLIHX3CSvUbqqsX8xTVqIqQ7fFS6HWO6KZQVBsT6yugTwYHbyhNiU531JejYJ/I3ZrDhXfYH3qFZiYxnH1sifvwV+fnTtMXpPN7qPZwIymkjcmm6gJF51e0C7VOfUbvKFv0ngwj+ul21rgZSMuoEvxPK0WxtE3/ZSfn9c="
-    - APT_DEPENDENCIES="doxygen libeigen3-dev libboost-test-dev libboost-python-dev libeigen3-dev"
+    - APT_DEPENDENCIES="doxygen libeigen3-dev libboost-test-dev libboost-python-dev"
     - DEBSIGN_KEYID=5AE5CD75
     - CC=gcc
     - DO_COVERAGE_ON_BRANCH="master;release"
     - DO_CPPCHECK_ON_BRANCH=""
     - DO_INSTALL_DOC_EXCEPT_ON_BRANCH=""
-  matrix:
-    - BUILDTYPE=Release
-    - BUILDTYPE=Debug
+
+jobs:
+  include:
+    - dist: xenial
+      env: BUILDTYPE=Release
+    - dist: xenial
+      env: BUILDTYPE=Debug
+    - dist: trusty 
+      env: BUILDTYPE=Release
+    - dist: trusty 
+      env: BUILDTYPE=Debug
+
 notifications:
   email:
     - pinocchio-build@laas.fr
diff --git a/cmake b/cmake
index 40207e1a74854fa99a42304837f826f1692d4440..7bc2c801fc250a5a7a4570983c18c0b519ed35ba 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 40207e1a74854fa99a42304837f826f1692d4440
+Subproject commit 7bc2c801fc250a5a7a4570983c18c0b519ed35ba