I fixed the issue with a change in the travis.yml:
before_script:
- wget "https://github.com/mozilla/geckodriver/releases/download/v0.24.0/geckodriver-v0.24.0-linux64.tar.gz"
- tar xfz geckodriver-v0.24.0-linux64.tar.gz
- sudo mv geckodriver /usr/local/bin
- 'export DISPLAY=:99.0'
- Xvfb :99 -screen 0 1024x768x24 > /dev/null 2>&1 &
- sleep 3
It seemed to be necessary to download the geckodriver and install it.