diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 02a24bcc..17deac4b 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -3,24 +3,21 @@ on: [push, pull_request]
 jobs:
 
   ros2:
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
     container:
-      image: docker://ros:eloquent-ros-base-bionic
+      image: docker://ros:foxy-ros-base-focal
     steps:
     - name: non-ros-deps
       run: |
         sudo apt update
         sudo apt install -y wget
-        echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable bionic main" > /etc/apt/sources.list.d/gazebo-stable.list
+        sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
         wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
         
         sudo apt update && sudo apt install \
           git cmake python3-vcstool curl \
           qt5-default \
-          libboost-system-dev libboost-date-time-dev libboost-regex-dev libboost-random-dev \
           python3-shapely python3-yaml python3-requests \
-          libignition-common3-dev libignition-plugin-dev \
-          g++-8 \
           -y
 
     - name: workspace
@@ -40,16 +37,10 @@ jobs:
       run: |
         cd rmf_demos_ws
         rosdep update
-        rosdep install --from-paths src --ignore-src --rosdistro eloquent -yr
+        rosdep install --from-paths src --ignore-src --rosdistro foxy -yr
     - name: build
       shell: bash
       run: |
         cd rmf_demos_ws
-        source /opt/ros/eloquent/setup.bash
-        CXX=g++-8 colcon build --cmake-args -DCMAKE_BUILD_TYPE=RELEASE -DNO_DOWNLOAD_MODELS=True --packages-up-to \
-          demos \
-          rmf_demo_assets \
-          rmf_demo_maps \
-          rmf_demo_tasks \
-          rmf_gazebo_plugins \
-          rmf_rviz_plugin 
\ No newline at end of file
+        source /opt/ros/foxy/setup.bash
+        colcon build --cmake-args -DCMAKE_BUILD_TYPE=RELEASE -DNO_DOWNLOAD_MODELS=True
diff --git a/README.md b/README.md
index a0c8d78b..76c1bc01 100644
--- a/README.md
+++ b/README.md
@@ -15,11 +15,11 @@ This repository contains demonstrations of the above mentioned capabilities of R
 
 These demos were developed and tested on
 
-* [Ubuntu 18.04 LTS](https://releases.ubuntu.com/18.04/) & [Ubuntu 20.04 LTS](https://releases.ubuntu.com/20.04/)
+* [Ubuntu 20.04 LTS](https://releases.ubuntu.com/20.04/)
 
-* [ROS 2 - Eloquent](https://index.ros.org/doc/ros2/Releases/Release-Eloquent-Elusor/) & [ROS 2 - Foxy](https://index.ros.org/doc/ros2/Releases/Release-Foxy-Fitzroy/)
+* [ROS 2 - Foxy](https://index.ros.org/doc/ros2/Releases/Release-Foxy-Fitzroy/)
 
-* [Gazebo 9.13.0 & Gazebo 11.1.0](http://gazebosim.org/)
+* [Gazebo 11.1.0](http://gazebosim.org/)
 
 ## Installation
 Instructions can be found [here](docs/installation.md).
@@ -34,7 +34,7 @@ Answers to frequently asked questions can be found [here](docs/faq.md).
 * [Clinic World](#Clinic-World)
 * [Hotel World](#Hotel-World)
 
-> Note: When running the demos on Ubuntu 18.04 + ROS2 Eloquent, you are required to explicitly supply gazebo_version launch argument. Eg:
+> Note: When running the demos on Ubuntu 18.04 (not officially supported), you are required to explicitly supply gazebo_version launch argument. Eg:
 ros2 launch demos office.launch.xml gazebo_version:=9
 
 ---
diff --git a/docs/installation.md b/docs/installation.md
index a47cf0cc..ba6713ee 100644
--- a/docs/installation.md
+++ b/docs/installation.md
@@ -16,10 +16,7 @@ Install all non-ROS dependencies of RMF packages,
 sudo apt update && sudo apt install \
   git cmake python3-vcstool curl \
   qt5-default \
-  libboost-system-dev libboost-date-time-dev libboost-regex-dev libboost-random-dev \
   python3-shapely python3-yaml python3-requests \
-  libignition-common3-dev libignition-plugin-dev \
-  g++-8 \
   -y
 ```
 
@@ -43,7 +40,7 @@ The models required for each of the demo worlds will be automatically downloaded
 
 ## Compiling Instructions
 
-#### Ubuntu 20.04 and ROS 2 Foxy:
+#### Ubuntu 20.04:
 
 ```bash
 cd ~/rmf_demos_ws
@@ -51,11 +48,17 @@ source /opt/ros/foxy/setup.bash
 colcon build --cmake-args -DCMAKE_BUILD_TYPE=RELEASE
 ```
 
-#### Ubuntu 18.04 and ROS 2 Eloquent:
+#### Ubuntu 18.04:
+
+Running on Ubuntu 18.04 is not officially supported and requires building [Foxy from source](https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Development-Setup/), you will also need to install g++8 and the ignition libraries manually:
+
+```
+sudo apt install g++-8 libignition-common3-dev libigion-plugin-dev -y
+```
 
 ```bash
 cd ~/rmf_demos_ws
-source /opt/ros/eloquent/setup.bash
+source ~/ros2_foxy/install/setup.bash
 CXX=g++-8 colcon build --cmake-args -DCMAKE_BUILD_TYPE=RELEASE
 ```
 > Note: The build will fail if the compiler is not set to g++ version 8 or above.