diff --git a/.travis.yml b/.travis.yml
index efeef658..80ddc87e 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -23,9 +23,6 @@ branches:
 before_install:
   - .travis/load_cache.sh
   - pip install --user gh-pr-comment
-
-install: true
-
 script:
   - docker build
     --cache-from ${DOCKER_CACHE_REGISTRY}:${ROS_DISTRO_TARGET}
@@ -45,3 +42,18 @@ script:
     $(bash <(curl -s https://codecov.io/env))
     ${DOCKER_CACHE_TARGET}:${ROS_DISTRO_TARGET} /catkin_ws/src/${PACKAGE_NAME}/.travis/test.sh
   - bash -c "[ x${COVERAGE_TEST} != xtrue ] && .travis/save_cache.sh || true"
+
+jobs:
+  include:
+    - stage: prerelease-test
+      if: head_branch =~ ^release-.*$
+      env:
+        - ROS_DISTRO_TARGET=kinetic COVERAGE_TEST=false
+      before_install: pip install --user gh-pr-comment
+      script: .travis/prerelease_test.sh
+    - stage: prerelease-test
+      if: head_branch =~ ^release-.*$
+      env:
+        - ROS_DISTRO_TARGET=melodic COVERAGE_TEST=false
+      before_install: pip install --user gh-pr-comment
+      script: .travis/prerelease_test.sh
diff --git a/.travis/prerelease_test.sh b/.travis/prerelease_test.sh
new file mode 100755
index 00000000..b0f7760b
--- /dev/null
+++ b/.travis/prerelease_test.sh
@@ -0,0 +1,42 @@
+#!/bin/bash
+
+set -eu
+
+if [[ ! "${TRAVIS_PULL_REQUEST_BRANCH}" =~ ^release-.*$ ]]; then
+  echo "Skipping prerelease test"
+  exit 0
+fi
+
+case ${ROS_DISTRO_TARGET} in
+  kinetic )
+    UBUNTU_DIST_TARGET=xenial
+    ;;
+  melodic )
+    UBUNTU_DIST_TARGET=bionic
+    ;;
+  * )
+    echo "Unknown ROS_DISTRO_TARGET: ${ROS_DISTRO_TARGET}"
+    exit 1
+    ;;
+esac
+
+echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/ros-latest.list
+sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+sudo apt-get update -qq
+sudo apt-get install -y --no-install-recommends python3-ros-buildfarm python3-pip git
+sudo pip3 install git+https://github.com/ros/catkin
+
+mkdir -p /tmp/prerelease_job
+cd /tmp/prerelease_job
+
+generate_prerelease_script.py \
+  https://raw.githubusercontent.com/ros-infrastructure/ros_buildfarm_config/production/index.yaml \
+  ${ROS_DISTRO_TARGET} default ubuntu ${UBUNTU_DIST_TARGET} amd64 \
+  --custom-repo \
+    neonavigation__custom-2:git:https://github.com/at-wat/neonavigation.git:${TRAVIS_PULL_REQUEST_BRANCH} \
+  --level 1 \
+  --output-dir ./
+
+./prerelease.sh \
+  && gh-pr-comment "[#${TRAVIS_BUILD_NUMBER}-prerelease] PASSED on ${ROS_DISTRO_TARGET}" "" \
+  || (gh-pr-comment "[#${TRAVIS_BUILD_NUMBER}-prerelease] FAILED on ${ROS_DISTRO_TARGET}" ""; false)