diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 3ca73a3e5..2d3917f67 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -14,7 +14,7 @@ services:
   - docker:dind
 
 before_script:
-  - apk add --update bash coreutils tar # install industrial_ci dependencies
+  - apk add --update bash coreutils tar grep # install industrial_ci dependencies
   # for regular users: - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci .industrial_ci -b master
   - mkdir .industrial_ci && cp -a * .industrial_ci # this is only needed for branch testing of industrial_ci itself
 
@@ -62,3 +62,8 @@ docker_no_pull:
     - docker pull rosindustrial/ci:kinetic-xenial-shadow-fixed
     - docker tag rosindustrial/ci:kinetic-xenial-shadow-fixed industrial-ci/ubuntu:xenial
     - .industrial_ci/gitlab.sh ROS_DISTRO=kinetic DOCKER_IMAGE="industrial-ci/ubuntu:xenial" DOCKER_PULL=false
+
+test_arm:
+  script:
+    - docker run --rm --privileged multiarch/qemu-user-static --reset --credential yes --persistent yes
+    - .industrial_ci/gitlab.sh DOCKER_IMAGE='arm32v7/ros:melodic-ros-core' BEFORE_INIT='[[ $(uname -p) == armv7l ]] && exit 42' EXPECT_EXIT_CODE=42
diff --git a/.travis.yml b/.travis.yml
index 761bc7148..e7ecc8090 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -22,7 +22,6 @@ env:
     - ROS_DISTRO=indigo TARGET_WORKSPACE='industrial_ci/mockups/industrial_ci_testpkg' CATKIN_LINT=pedantic EXPECT_EXIT_CODE=1
     - ROS_DISTRO=indigo TARGET_WORKSPACE='industrial_ci/mockups/industrial_ci_testpkg' ROSDEP_SKIP_KEYS="rospy_tutorials rostest" EXPECT_EXIT_CODE=1
     - ROS_DISTRO=indigo TARGET_WORKSPACE='industrial_ci/mockups/testpkg_broken_install'  EXPECT_EXIT_CODE=1
-    - DOCKER_IMAGE='arm32v7/ros:indigo-ros-core' ADDITIONAL_DEBS="build-essential python-catkin-tools python-pip" INJECT_QEMU=arm BEFORE_INIT='[[ $(uname -p) == armv7l ]]'
     - ROS_DISTRO=melodic NOT_TEST_BUILD='true' _GUARD_INTERVAL=10
     - ROS_DISTRO=indigo NOT_TEST_INSTALL='true' BEFORE_INIT='test -z "${CXX+x}"' # test that CXX is not set
     - ROS_DISTRO=indigo NOT_TEST_INSTALL='true' CXX=/usr/bin/gcc BEFORE_INIT='test -z "${CXX+x}"' EXPECT_EXIT_CODE=1 # test the CXX test
@@ -84,16 +83,19 @@ matrix:
   allow_failures:
     - env: ROS_DISTRO=indigo NOT_TEST_BUILD='true' NOT_TEST_INSTALL='true' POST_PROCESS='I_am_supposed_to_fail'
   include:
+    - install:
+        - docker run --rm --privileged multiarch/qemu-user-static --reset --credential yes --persistent yes
+      env:
+        - DOCKER_IMAGE='arm32v7/ros:melodic-ros-core' BEFORE_INIT='[[ $(uname -p) == armv7l ]] && exit 42' EXPECT_EXIT_CODE=42
+      name: "Test on ARM"
     - script:
       - industrial_ci/scripts/run_travis
       - industrial_ci/scripts/run_travis 1
-      env: [run_travis]
+      name: run_travis
     - script: shellcheck -x *.sh industrial_ci/scripts/*_ci industrial_ci/src/*.sh industrial_ci/src/*/*.sh industrial_ci/*.sh
-      env: [shellcheck]
+      name: shellcheck
 
 
-install:
-  - sudo apt-get install qemu-user-static
 script:
   - industrial_ci/_wrap_test.sh # this script is only for internal use
   - if ! [ -z "$POST_PROCESS" ]; then $POST_PROCESS; fi
diff --git a/doc/index.rst b/doc/index.rst
index 3c24a3d3b..84edf2a54 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -194,7 +194,6 @@ Note that some of these currently tied only to a single option, but we still lea
 * **DOWNSTREAM_CMAKE_ARGS** (default: not set): Addtional CMake arguments for downstream `workspace <#workspace-management>`__.
 * **DOWNSTREAM_WORKSPACE** (default: not set): Definition of downstream `workspace <#workspace-management>`__.
 * **EXPECT_EXIT_CODE** (default: 0): exit code must match this value for test to succeed
-* **INJECT_QEMU** (default: not set): Inject static qemu emulator for cross-platform builds, e.g. `INJECT_QEMU=arm`. This requires to install `qemu-user-static` on the host. The emulated build might take much longer!
 * **IMMEDIATE_TEST_OUTPUT** (default: not set): If true, test output is printed immediately during the tests
 * **NOT_TEST_BUILD** (default: not set): If true, tests in `build` space won't be run.
 * **NOT_TEST_DOWNSTREAM** (default: not set): If true, tests in the downstream workspace won't be run.
diff --git a/doc/migration_guide.md b/doc/migration_guide.md
index 29607b945..d59fee7ba 100644
--- a/doc/migration_guide.md
+++ b/doc/migration_guide.md
@@ -20,6 +20,7 @@ Some features are not supported anymore:
 * Support of ROS hydro
 * Devel space builds
 * Testing installed \*.test files
+* Injecting QEMU (see [`INJECT_QEMU`](#inject_qemu))
 * Job control settings have been removed for now
 
 If you depend on these, you can still use the [legacy](https://github.com/ros-industrial/industrial_ci/tree/legacy) version.
@@ -54,6 +55,7 @@ Special care must be taken, if you use any of these variables:
 * [`DOCKER_IMAGE`](#docker_image)
 * [`HASHKEY_SKS`](#hashkey_sks)
 * [`NOT_TEST_INSTALL`](#not_test_install)
+* [`INJECT_QEMU`](#inject_qemu)
 * [`PKGS_DOWNSTREAM`](#pkgs_downstream)
 * [`ROSINSTALL_FILENAME`](#rosinstall_filename)
 * [`ROS_PARALLEL_JOBS`](#ros_parallel_jobs)
@@ -197,6 +199,14 @@ This variable is still supported, but the [workspace layout has changed](#worksp
 
 Will only be used if [`APTKEY_STORE_HTTPS`](#aptkey_store_https) is not set.
 
+### INJECT_QEMU
+
+This option was removed. It is not needed for newer versions of `qemu-user-static` (host OS: Ubuntu cosmic or newer, Debian buster or newer).
+For older versions, please try
+```
+docker run --rm --privileged multiarch/qemu-user-static --reset --credential yes --persistent yes
+```
+
 ### NOT_TEST_INSTALL
 
 This feature was removed, please use the [legacy](https://github.com/ros-industrial/industrial_ci/tree/legacy) version.
diff --git a/industrial_ci/src/docker.sh b/industrial_ci/src/docker.sh
index 06ca3ca6e..89aff5609 100644
--- a/industrial_ci/src/docker.sh
+++ b/industrial_ci/src/docker.sh
@@ -84,12 +84,6 @@ function ici_run_cmd_in_docker() {
      run_opts+=(-v "$CCACHE_DIR:/root/.ccache" -e "CCACHE_DIR=/root/.ccache")
   fi
 
-  if [ -n "$INJECT_QEMU" ]; then
-    local qemu_path
-    qemu_path=$(command -v "qemu-$INJECT_QEMU-static") || ici_error "please install qemu-user-static"
-    run_opts+=(-v "$qemu_path:$qemu_path:ro")
-  fi
-
   local hooks=()
   for hook in $(env | grep -o '^\(BEFORE\|AFTER\)_[^=]*'); do
       hooks+=(-e "$hook")
@@ -220,22 +214,6 @@ function ici_prepare_docker_image() {
 #   (None)
 
 function ici_build_default_docker_image() {
-  if [ -n "$INJECT_QEMU" ]; then
-    local qemu_path
-    qemu_path=$(command -v "qemu-$INJECT_QEMU-static") || ici_error "please install qemu-user-static"
-    echo "Inject qemu..."
-    local qemu_temp
-    qemu_temp=$(mktemp -d)
-    cat <<EOF > "$qemu_temp/Dockerfile"
-    FROM $DOCKER_BASE_IMAGE
-    COPY '$(basename "$qemu_path")' '$qemu_path'
-EOF
-    cp "$qemu_path" "$qemu_temp"
-    unset INJECT_QEMU
-    export DOCKER_BASE_IMAGE="$DOCKER_BASE_IMAGE-qemu"
-    DOCKER_IMAGE="$DOCKER_BASE_IMAGE" ici_quiet ici_docker_build "$qemu_temp"
-    rm -rf "$qemu_temp"
-  fi
   # choose a unique image name
   export DOCKER_IMAGE="industrial-ci/$ROS_DISTRO/$DOCKER_BASE_IMAGE"
   echo "Building image '$DOCKER_IMAGE':"
diff --git a/industrial_ci/src/env.sh b/industrial_ci/src/env.sh
index a546388ff..283ca3efb 100644
--- a/industrial_ci/src/env.sh
+++ b/industrial_ci/src/env.sh
@@ -18,6 +18,7 @@
 
 ici_enforce_deprecated BEFORE_SCRIPT "Please migrate to new hook system."
 ici_enforce_deprecated CATKIN_CONFIG "Explicit catkin configuration is not available anymore."
+ici_enforce_deprecated INJECT_QEMU "Please check https://github.com/ros-industrial/industrial_ci/blob/master/doc/migration_guide.md#inject_qemu"
 
 if [ -n "$NOT_TEST_INSTALL" ]; then
     if [ "$NOT_TEST_INSTALL" != true ]; then