diff --git a/.github/workflows/e2e_test.yml b/.github/workflows/e2e_test.yml
index f3272c10..e3d5eae2 100644
--- a/.github/workflows/e2e_test.yml
+++ b/.github/workflows/e2e_test.yml
@@ -16,7 +16,7 @@ jobs:
       matrix:
         target_arch: [aarch64, armhf, x86_64]
         target_os: [ubuntu, debian]
-        rosdistro: [dashing, eloquent, foxy, melodic]
+        rosdistro: [dashing, eloquent, foxy, melodic, noetic]
     env:
       METRICS_OUT_DIR: /tmp/collected_metrics
     steps:
diff --git a/README.md b/README.md
index b1c6b95d..801b09c2 100644
--- a/README.md
+++ b/README.md
@@ -15,7 +15,7 @@ This tool supports compiling a workspace for all combinations of the following:
 
 * Architecture: `armhf`, `aarch64`, `x86_64`
 * ROS Distro
-  * ROS: `kinetic`, `melodic`
+  * ROS: `kinetic`, `melodic`, `noetic`
   * ROS 2: `dashing`, `eloquent`, `foxy`
 * OS: `Ubuntu`, `Debian`
 
diff --git a/ros_cross_compile/platform.py b/ros_cross_compile/platform.py
index 122ac1f7..82751932 100644
--- a/ros_cross_compile/platform.py
+++ b/ros_cross_compile/platform.py
@@ -18,7 +18,8 @@
 ArchNameMapping = NamedTuple('ArchNameMapping', [('docker', str), ('qemu', str)])
 
 
-# NOTE: when changing any following values, update README.md Supported Targets section
+# NOTE: when changing any following values, update README.md Supported Targets section,
+# and add to .github/workflows/e2e_test.yml
 ARCHITECTURE_NAME_MAP = {
     'armhf': ArchNameMapping(docker='arm32v7', qemu='arm'),
     'aarch64': ArchNameMapping(docker='arm64v8', qemu='aarch64'),
@@ -27,7 +28,7 @@
 SUPPORTED_ARCHITECTURES = tuple(ARCHITECTURE_NAME_MAP.keys())
 
 SUPPORTED_ROS2_DISTROS = ('dashing', 'eloquent', 'foxy')
-SUPPORTED_ROS_DISTROS = ('kinetic', 'melodic')
+SUPPORTED_ROS_DISTROS = ('kinetic', 'melodic', 'noetic')
 
 ROSDISTRO_OS_MAP = {
     'kinetic': {
@@ -38,6 +39,10 @@
         'ubuntu': 'bionic',
         'debian': 'stretch',
     },
+    'noetic': {
+        'ubuntu': 'focal',
+        'debian': 'buster',
+    },
     'dashing': {
         'ubuntu': 'bionic',
         'debian': 'stretch',
@@ -52,6 +57,7 @@
     },
 }
 # NOTE: when changing any preceding values, update README.md Supported Targets section
+# and add to .github/workflows/e2e_test.yml
 
 
 class Platform: