diff --git a/.github/workflows/ros.yml b/.github/workflows/ros.yml
index 87fb8a2a..e1d534b2 100644
--- a/.github/workflows/ros.yml
+++ b/.github/workflows/ros.yml
@@ -10,7 +10,8 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-18.04]
+        os: [ubuntu-18.04, ubuntu-20.04]
+      fail-fast: false
 
     steps:
       - name: Create Catkin Workspace
@@ -51,7 +52,6 @@ jobs:
         run: |
           cd "$HOME/catkin_ws/src/LilFloSystem"
           bash gen_install.sh
-
       - uses: actions/cache@v1
         with:
           path: ~/.cache/pip
@@ -60,7 +60,7 @@ jobs:
             ${{ runner.os }}-pip-
 
       - name: Pylint
-        if: ${{ success() || failure() }}
+        if: ${{ (success() || failure()) && matrix.os == 'ubuntu-18.04' }}
         run: |
           python -m pip install --upgrade pip
           echo "/home/runner/.local/bin" >> $GITHUB_PATH
@@ -70,7 +70,7 @@ jobs:
           git ls-files | grep 'py$' | xargs pylint --unsafe-load-any-extension=y --disable=fixme
 
       - name: Catkin Lint
-        if: ${{ success() || failure() }}
+        if: ${{ (success() || failure()) && matrix.os == 'ubuntu-18.04' }}
         run: |
           sudo add-apt-repository ppa:roehling/ros
           sudo apt-get update -y
diff --git a/gen_install.sh b/gen_install.sh
index c900231d..762b356f 100755
--- a/gen_install.sh
+++ b/gen_install.sh
@@ -9,37 +9,66 @@ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31
 sudo apt-get -qq update -y
 
 if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==16));then
-    ROS_VERSION="kinetic"
-    else
-    if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==18)); then
-    ROS_VERSION="melodic"
+    readonly ROS_VERSION_TARGET="kinetic"
+fi    
+if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==18)); then
+    readonly ROS_VERSION_TARGET="melodic"
 fi
+if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==20)); then
+    readonly ROS_VERSION_TARGET="noetic"
 fi
-echo "installing for ros version: ${ROS_VERSION}"
-sudo apt-get install -qq -y ros-${ROS_VERSION}-desktop-full
-source /opt/ros/${ROS_VERSION}/setup.bash
+echo "installing for ros version1: ${ROS_VERSION_TARGET}"
+#to get the variable into global scope
+export $ROS_VERSION_TARGET
+echo "installing for ros version2: ${ROS_VERSION_TARGET}"
+sudo apt-get install -qq -y ros-${ROS_VERSION_TARGET}-desktop-full
+echo "installing for ros version3: ${ROS_VERSION_TARGET}"
+source /opt/ros/${ROS_VERSION_TARGET}/setup.bash
+echo "installing for ros version4: ${ROS_VERSION_TARGET}"
 ## install rosmon, it would be weird for this to be in one of the packages:
-#sudo apt-get install ros-${ROS_VERSION}-rosmon
-
-sudo apt-get -qq install -y python-rosdep
-[ ! -d "/etc/ros/rosdep/sources.list.d" ] && sudo rosdep init -q
-rosdep update -q
-sudo apt-get -qq install -y python-rosinstall python-rosinstall-generator python-wstool build-essential
+#sudo apt-get install ros-${ROS_VERSION_TARGET}-rosmon
+echo "ros version:${ROS_VERSION_TARGET}"
+if [[ "$ROS_VERSION_TARGET" == "kinetic" || "$ROS_VERSION_TARGET" == "melodic" ]] 
+then
+    echo "In ROS Version kinetic or melodic"
+    sudo apt-get -qq install -y python-rosdep 
+    sudo apt-get -qq install -y python-pip
+    #Mutagen has dropped python 2 support. Last supported version was 1.43.0: mutagen moved into if statement to account for ubuntu 20, also python3 supports latest version of mutagen.
+    pip install 'mutagen==1.43.0' --user -q
+    echo "INSTALLING ROSDEP DEPENDENCIES"
+    sudo apt-get -qq install python-rosdep -y
+    [ ! -d "/etc/ros/rosdep/sources.list.d" ] && sudo rosdep init -q
+    rosdep update -q
+    sudo apt-get -qq install -y python-rosinstall python-rosinstall-generator python-wstool build-essential
+cd ~/catkin_ws
+rosdep install --from-paths src --ignore-src -q -r -y --skip-keys "realsense2_camera realsense2_description rosbridge_suite rosbridge_server rosbridge_library rosbridge_msgs video_stream_opencv kobuki webrtc_ros"
+cd -
+fi
+if [[ "$ROS_VERSION_TARGET" == "noetic" ]] 
+then
+    echo "In ROS Version noetic"	
+    sudo apt-get -qq install -y python3-rosdep
+    sudo apt-get -qq install -y python3-pip
+    pip install 'mutagen' --user -q
+    echo "INSTALLING ROSDEP DEPENDENCIES"
+    sudo apt-get -qq install python3-rosdep -y
+    [ ! -d "/etc/ros/rosdep/sources.list.d" ] && sudo rosdep init -q
+    rosdep update -q
+    sudo apt-get -qq install -y python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
+cd ~/catkin_ws
+rosdep install --from-paths src --ignore-src -q -r -y --skip-keys "realsense2_camera realsense2_description rosbridge_suite rosbridge_server rosbridge_library rosbridge_msgs video_stream_opencv kobuki webrtc_ros"
+cd -
+fi
 
 ## Install packages we need:
 echo "INSTALLING DEPENDENCIES NOT FOUND IN ROSDEP"
-#pip install pyqtgraph --user
+#pip install pyqtgraph --useri
 #I think I have replaced this by adding a symlink:
 #python flo_face/teensy/src/serial_coms/computer/python/serial-coms/setup.py install --user
-# Mutagen has dropped python 2 support. Last supported version was 1.43.0:
-sudo apt-get -qq install -y python-pip
-pip install 'mutagen==1.43.0' --user -q
 
-echo "INSTALLING ROSDEP DEPENDENCIES"
-sudo apt-get -qq install python-rosdep -y
-cd ~/catkin_ws
-rosdep install --from-paths src --ignore-src -q -r -y --skip-keys "realsense2_camera realsense2_description rosbridge_suite rosbridge_server rosbridge_library rosbridge_msgs video_stream_opencv kobuki"
-cd -
+#cd ~/catkin_ws
+#rosdep install --from-paths src --ignore-src -q -r -y --skip-keys "realsense2_camera realsense2_description rosbridge_suite rosbridge_server rosbridge_library rosbridge_msgs video_stream_opencv kobuki webrtc_ros"
+#cd -
 
 echo "checking vars"
 echo "github_actions: $GITHUB_ACTIONS"
diff --git a/realsense_install.sh b/realsense_install.sh
index f07eb11b..e01c01a6 100755
--- a/realsense_install.sh
+++ b/realsense_install.sh
@@ -8,11 +8,14 @@ sudo apt-get -qq install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at
 if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==16));then
     ROS_VERSION="kinetic"
     OS_VERSION="xenial"
-    else
-    if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==18)); then
+fi    
+if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==18)); then
     ROS_VERSION="melodic"
     OS_VERSION="bionic"
 fi
+if(($(cat /etc/os-release | grep VERSION_ID|grep -o '".*"' | sed 's/"//g' | cut -c1-2 )==20));then
+    ROS_VERSION="noetic"
+    OS_VERSION="focal"
 fi
 
 sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE