diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 55d2f43d5c69c711ffaa430424ba94cbc819edc1..25685c7602c1010fd9242ab2cc87153b07ed87da 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,45 +1,56 @@
+# Please don't edit this file, and use the version generated at
+# http://rainboard.laas.fr/project/talos_data/.gitlab-ci.yml
+
 variables:
-  GIT_SSL_NO_VERIFY: "true"
   GIT_SUBMODULE_STRATEGY: "recursive"
-  GIT_DEPTH: "3"
-  NAMESPACE: pyrene-dev
-  PROJECT: talos_data
-  IMAGE: "${CI_REGISTRY}/${NAMESPACE}/${PROJECT}"
+  CCACHE_BASEDIR: "${CI_PROJECT_DIR}"
+  CCACHE_DIR: "${CI_PROJECT_DIR}/ccache"
 
 cache:
   paths:
-    - build/ccache
-
+    - ccache
 
 .robotpkg-talos-data: &robotpkg-talos-data
-  variables:
-    ROBOTPKG: talos-data
-    CATEGORY: wip
-  before_script:
-    - mkdir -p build/ccache
-    - cd build
-    - export CCACHE_BASEDIR=${PWD}
-    - export CCACHE_DIR=${PWD}/ccache
+  except:
+    - gh-pages
   script:
-    - cd /root/robotpkg/${CATEGORY}/${ROBOTPKG}
-    - echo "MASTER_REPOSITORY = git ${CI_PROJECT_DIR}" >> Makefile
-    - echo "REPOSITORY.talos-data = git ${CI_PROJECT_DIR}" >> /opt/openrobots/etc/robotpkg.conf
-    - make checkout
+    - mkdir -p ccache
+    - cd /root/robotpkg/wip
+    - git pull
+    - cd talos-data
+    - make checkout MASTER_REPOSITORY="git ${CI_PROJECT_DIR}/.git"
     - make install
-    - cd work.*/${PROJECT}*/
+    - cd $(make show-var VARNAME=WRKSRC)
     - make test
-  except:
-    - gh-pages
 
+robotpkg-talos-data-14.04-release:
+  <<: *robotpkg-talos-data
+  image: gepgitlab.laas.fr:4567/pyrene-dev/talos_data/talos-data:14.04
 
-robotpkg-talos-data-14.04:
+robotpkg-talos-data-16.04-release:
   <<: *robotpkg-talos-data
-  image: ${IMAGE}:14.04
+  image: gepgitlab.laas.fr:4567/pyrene-dev/talos_data/talos-data:16.04
 
-robotpkg-talos-data-16.04:
+robotpkg-talos-data-18.04-release:
   <<: *robotpkg-talos-data
-  image: ${IMAGE}:16.04
+  image: gepgitlab.laas.fr:4567/pyrene-dev/talos_data/talos-data:18.04
 
-robotpkg-talos-data-dubnium:
+doc-coverage:
   <<: *robotpkg-talos-data
-  image: ${IMAGE}:dubnium
+  image: gepgitlab.laas.fr:4567/pyrene-dev/talos_data/talos-data:16.04
+  before_script:
+    - echo -e 'CXXFLAGS+= --coverage\nLDFLAGS+= --coverage\nPKG_DEFAULT_OPTIONS= debug' >> /opt/openrobots/etc/robotpkg.conf
+  after_script:
+    - cd /root/robotpkg/wip/talos-data
+    - cd $(make show-var VARNAME=WRKSRC)
+    - make doc
+    - mv doc/doxygen-html ${CI_PROJECT_DIR}
+    - mkdir -p ${CI_PROJECT_DIR}/coverage/
+    - gcovr -r .
+    - gcovr -r . --html --html-details -o ${CI_PROJECT_DIR}/coverage/index.html
+  artifacts:
+    expire_in: 1 day
+    paths:
+      - doxygen-html/
+      - coverage/
+