diff --git a/README.md b/README.md
index 2d307055..89faed3e 100644
--- a/README.md
+++ b/README.md
@@ -109,7 +109,7 @@ It's also possible to run the moveit\_ci script locally, without Travis. We demo
 First clone the repo you want to test:
 
     cd /tmp/travis   # any working directory will do
-    git clone https://github.com/ros-planning/moveit2
+    git clone https://github.com/acutronicrobotics/moveit2
     cd moveit2
 
 Next clone the CI script:
@@ -141,3 +141,25 @@ It's also possible to run the script without using docker. To this end, issue th
     mkdir $ROS_WS                    # and create it
 
     .moveit_ci/travis.sh
+
+## Running Locally For Testing in `OS X`
+
+First clone the repo you want to test:
+
+    cd /tmp/travis   # any working directory will do
+    git clone https://github.com/acutronicrobotics/moveit2
+    cd moveit2
+
+Next clone the CI script:
+
+    git clone -b ros2 https://github.com/acutronicrobotics/moveit_ci .moveit_ci
+
+Manually define the variables, Travis would otherwise define for you. These are required:
+
+    export TRAVIS_BRANCH=master
+    export ROS_DISTRO=crystal
+    export ROS_REPO=acutronicrobotics
+    export CC=gcc
+    export CXX=g++
+    export UPSTREAM_WORKSPACE=moveit.rosinstall
+    export TRAVIS_OS_NAME=osx
diff --git a/travis.sh b/travis.sh
index be9d8793..a225a5cb 100755
--- a/travis.sh
+++ b/travis.sh
@@ -40,12 +40,19 @@ function run_docker() {
 
     # Choose the docker container to use
     case "${ROS_REPO:-ros}" in
+       acutronicrobotics) export DOCKER_IMAGE=acutronicrobotics/moveit2:$ROS_DISTRO-ci ;;
        ros) export DOCKER_IMAGE=moveit/moveit2:$ROS_DISTRO-ci ;;
        *) echo -e $(colorize RED "Unsupported ROS_REPO=$ROS_REPO. Use 'ros'"); exit 1 ;;
     esac
 
     echo -e $(colorize BOLD "Starting Docker image: $DOCKER_IMAGE")
-    travis_run docker pull $DOCKER_IMAGE
+
+    if [[ "${ROS_REPO}" == acutronicrobotics ]]; then
+      # travis_run docker pull $DOCKER_IMAGE # Image not available from dockerhub for now, build locally
+      travis_run docker build -t $DOCKER_IMAGE .docker/ci/
+    else
+      travis_run docker pull $DOCKER_IMAGE
+    fi
 
     # Start Docker container
     docker run \
@@ -89,6 +96,9 @@ function update_system() {
    # Make sure the packages are up-to-date
    travis_run apt-get -qq dist-upgrade
 
+   # Make sure autoconf is installed
+   travis_run apt-get -qq install -y autoconf
+
    # Install clang-tidy stuff if needed
    [[ "$TEST" == *clang-tidy* ]] && travis_run apt-get -qq install -y clang-tidy
    # run-clang-tidy is part of clang-tools in Bionic, but not in Xenial -> ignore failure
@@ -153,40 +163,49 @@ function run_xvfb() {
 function prepare_ros_workspace() {
    travis_fold start ros.ws "Setting up ROS workspace"
    travis_run_simple mkdir -p $ROS_WS/src
-   travis_run_simple cd $ROS_WS/src
-
-   # Pull additional packages into the ros workspace
-   travis_run wstool init .
-   for item in $(unify_list " ,;" ${UPSTREAM_WORKSPACE:-debian}) ; do
-      echo "Adding $item"
-      case "$item" in
-         debian)
-            echo "Obtaining debian packages for all upstream dependencies."
-            break ;;
-         https://github.com/*) # clone from github
-            # extract url and optional branch from item=<url>#<branch>
-            item="${item}#"
-            url=${item%%#*}
-            branch=${item#*#}; branch=${branch%#}; branch=${branch:+--branch ${branch}}
-            travis_run_true git clone -q --depth 1 $branch $url
-            test $? -ne 0 && echo -e "$(colorize RED Failed clone repository. Aborting.)" && exit 2
-            continue ;;
-         http://* | https://* | file://*) ;; # use url as is
-         *) item="file://$CI_SOURCE_PATH/$item" ;; # turn into proper url
-      esac
-      travis_run_true wstool merge -k $item
-      test $? -ne 0 && echo -e "$(colorize RED Failed to find rosinstall file. Aborting.)" && exit 2
-   done
 
-   # Download upstream packages into workspace
-   if [ -e .rosinstall ]; then
-      # ensure that the to-be-tested package is not in .rosinstall
-      travis_run_true wstool rm $REPOSITORY_NAME
-      # perform shallow checkout: only possible with wstool init
-      travis_run_simple mv .rosinstall rosinstall
-      travis_run cat rosinstall
-      travis_run wstool init --shallow . rosinstall
-   fi
+   if [[ "${ROS_REPO}" == acutronicrobotics ]]; then
+     travis_run_simple cd $ROS_WS
+     # There's already a moveit2.repos locally, no need to fetch it
+     # travis_run wget https://raw.githubusercontent.com/AcutronicRobotics/moveit2/master/moveit2.repos
+     travis_run vcs import src < moveit2.repos
+     travis_run_simple cd $ROS_WS/src
+   else
+     travis_run_simple cd $ROS_WS/src
+
+     # Pull additional packages into the ros workspace
+     travis_run wstool init .
+     for item in $(unify_list " ,;" ${UPSTREAM_WORKSPACE:-debian}) ; do
+        echo "Adding $item"
+        case "$item" in
+           debian)
+              echo "Obtaining debian packages for all upstream dependencies."
+              break ;;
+           https://github.com/*) # clone from github
+              # extract url and optional branch from item=<url>#<branch>
+              item="${item}#"
+              url=${item%%#*}
+              branch=${item#*#}; branch=${branch%#}; branch=${branch:+--branch ${branch}}
+              travis_run_true git clone -q --depth 1 $branch $url
+              test $? -ne 0 && echo -e "$(colorize RED Failed clone repository. Aborting.)" && exit 2
+              continue ;;
+           http://* | https://* | file://*) ;; # use url as is
+           *) item="file://$CI_SOURCE_PATH/$item" ;; # turn into proper url
+        esac
+        travis_run_true wstool merge -k $item
+        test $? -ne 0 && echo -e "$(colorize RED Failed to find rosinstall file. Aborting.)" && exit 2
+     done
+
+     # Download upstream packages into workspace
+     if [ -e .rosinstall ]; then
+        # ensure that the to-be-tested package is not in .rosinstall
+        travis_run_true wstool rm $REPOSITORY_NAME
+        # perform shallow checkout: only possible with wstool init
+        travis_run_simple mv .rosinstall rosinstall
+        travis_run cat rosinstall
+        travis_run wstool init --shallow . rosinstall
+     fi
+  fi  # else
 
    # Link in the repo we are testing
    if [ "$(dirname $CI_SOURCE_PATH)" != $PWD ] ; then
diff --git a/travis_functions.sh b/travis_functions.sh
index 05632c59..82171d43 100644
--- a/travis_functions.sh
+++ b/travis_functions.sh
@@ -31,6 +31,10 @@ travis_nanoseconds() {
     format='+%s000000000'
   fi
 
+  if [[ "${TRAVIS_OS_NAME}" == osx ]]; then
+    format='+%s000000000'
+  fi
+
   "${cmd}" -u "${format}"
 }
 travis_time_start() {
diff --git a/util.sh b/util.sh
index d9400c3d..20ccb3e4 100644
--- a/util.sh
+++ b/util.sh
@@ -79,8 +79,13 @@ travis_timeout() {
 # travis_fold (start|end) [name] [message]
 travis_fold() {
   # option -g declares those arrays globally!
-  declare -ag _TRAVIS_FOLD_NAME_STACK  # "stack" array to hold name hierarchy
-  declare -Ag _TRAVIS_FOLD_COUNTERS  # associated array to hold global counters
+
+  if [[ "${TRAVIS_OS_NAME}" == osx ]]; then
+    :
+  else
+    declare -ag _TRAVIS_FOLD_NAME_STACK  # "stack" array to hold name hierarchy
+    declare -Ag _TRAVIS_FOLD_COUNTERS  # associated array to hold global counters
+  fi
 
   local action="$1"
   local name="${2:-moveit_ci}"  # name defaults to moveit_ci