diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 7383cf8b87eebe8fddd44fc03ea0d039fdcd4914..3696d52a048db65e2b09cd3a4a4aa42db9313b29 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -101,6 +101,15 @@ build_and_test:bionic:
   script:
     - *build_and_test_definition
 
+############ UBUNTU 20.04 TESTS ############
+build_and_test:focal:
+  stage: build_and_test
+  image: labrobotica/wolf_deps:20.04
+  except:
+    - master
+  script:
+    - *build_and_test_definition
+
 ############ DEPLOY PLUGINS ############
 deploy_imu:
   stage: deploy
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index e3931fa1720bd83e152f8fb42b07adb0ccade6b8..03d0288545fa26113422d9eabc234866e22d3563 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -126,7 +126,7 @@ public:
     /**\brief Add a element to the buffer
     *
     */
-    void emplace(const TimeStamp& _time_stamp, const T& _element); //const double& _time_tolerance);
+    void emplace(const TimeStamp& _time_stamp, const T& _element);
 
     /** \brief returns the container with elements of the buffer
     *