diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 2e058dd814b9076d7f20f6c8a64898c9098965fb..46dfee2d91896a43a224a653e37f315d83fe3722 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -227,3 +227,60 @@ build_and_test_csm_falko:bionic:
     - ldconfig # update links (shared libraries)
   script:
     - *build_and_test_definition
+
+
+############ UBUNTU 20.04 TESTS ############
+build_and_test_none:focal:
+  stage: none
+  image: labrobotica/wolf_deps:20.04
+  before_script:
+    - *preliminaries_definition
+    - ldconfig # update links (shared libraries)
+  script:
+    - *build_and_test_definition
+
+build_and_test_csm:focal:
+  stage: csm
+  image: labrobotica/wolf_deps:20.04
+  cache:
+    - key: csm-focal
+      paths:
+      - ${CI_PROJECT_DIR}/ci_deps/csm/
+  before_script:
+    - *preliminaries_definition
+    - *install_csm_definition
+    - ldconfig # update links (shared libraries)
+  script:
+    - *build_and_test_definition
+
+build_and_test_falko:focal:
+  stage: falko
+  image: labrobotica/wolf_deps:20.04
+  cache:
+    - key: falko-focal
+      paths:
+      - ${CI_PROJECT_DIR}/ci_deps/falkolib/
+  before_script:
+    - *preliminaries_definition
+    - *install_falko_definition
+    - ldconfig # update links (shared libraries)
+  script:
+    - *build_and_test_definition
+    
+build_and_test_csm_falko:focal:
+  stage: csm_falko
+  image: labrobotica/wolf_deps:20.04
+  cache:
+    - key: csm-focal
+      paths:
+      - ${CI_PROJECT_DIR}/ci_deps/csm/
+    - key: falko-focal
+      paths:
+      - ${CI_PROJECT_DIR}/ci_deps/falkolib/
+  before_script:
+    - *preliminaries_definition
+    - *install_falko_definition
+    - *install_csm_definition
+    - ldconfig # update links (shared libraries)
+  script:
+    - *build_and_test_definition