diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index ca019fc2923587458d6a7131f6cc8f979423f972..e32a8403d0b2e36560b77844c423e9690a0e1031 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -123,11 +123,8 @@ stages:
 ############ LICENSE HEADERS ############
 license_headers:
   stage: license
-  image: labrobotica/wolf_deps_ros:16.04
-  cache:
-    - key: wolf-xenial
-      paths:
-      - ci_deps/wolf/
+  image: labrobotica/wolf_deps_ros:20.04
+  cache: []
   except:
     - master
   before_script:
@@ -136,28 +133,6 @@ license_headers:
   script:
     - *license_header_definition
 
-############ UBUNTU 16.04 TEST ############
-build_and_test:xenial:
-  stage: build_and_test
-  image: labrobotica/wolf_deps_ros:16.04
-  cache:
-    - key: wolf-xenial
-      paths:
-      - ci_deps/wolf/
-    - key: imu-xenial
-      paths:
-      - ci_deps/imu/
-  except:
-    - master
-  before_script:
-    - *preliminaries_definition
-    - *install_wolf_definition
-    - *install_wolfimu_definition
-    - *clone_wolfrosnode_definition
-    - ldconfig
-  script:
-    - *build_and_test_definition
-
 ############ UBUNTU 18.04 TEST ############
 build_and_test:bionic:
   stage: build_and_test