diff --git a/.travis.yml b/.travis.yml
index 35aa102..5ebfb69 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -24,6 +24,7 @@ cache:
 env:
   - LSB_RELEASE=xenial DOCKER_CACHE_FILE=/home/travis/docker/xenial-cache.tar.gz CC=gcc CXX=g++
   - LSB_RELEASE=bionic DOCKER_CACHE_FILE=/home/travis/docker/bionic-cache.tar.gz CC=gcc CXX=g++
+  - LSB_RELEASE=focal DOCKER_CACHE_FILE=/home/travis/docker/focal-cache.tar.gz CC=gcc CXX=g++
   - LSB_RELEASE=jessie DOCKER_CACHE_FILE=/home/travis/docker/jessie-cache.tar.gz CC=gcc CXX=g++
   - LSB_RELEASE=stretch DOCKER_CACHE_FILE=/home/travis/docker/stretch-cache.tar.gz CC=gcc CXX=g++
 
diff --git a/Dockerfile.focal b/Dockerfile.focal
new file mode 100644
index 0000000..c443c18
--- /dev/null
+++ b/Dockerfile.focal
@@ -0,0 +1,32 @@
+# Copyright 2020 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+FROM ubuntu:focal
+
+ARG cc
+ARG cxx
+
+# Set the preferred C/C++ compiler toolchain, if given (otherwise default).
+ENV CC=$cc
+ENV CXX=$cxx
+
+# This base image doesn't ship with sudo, apt-utils. tzdata is installed here to avoid hanging later
+# when it would wait for user input. 
+RUN apt-get update && apt-get install -y sudo apt-utils tzdata && rm -rf /var/lib/apt/lists/*
+
+COPY scripts/install_debs_cmake.sh cartographer/scripts/
+RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
+COPY . cartographer
+RUN cartographer/scripts/install_cartographer_cmake.sh && rm -rf cartographer
diff --git a/cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc b/cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc
index 4db939a..7e59508 100644
--- a/cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc
+++ b/cartographer/mapping/2d/tsdf_range_data_inserter_2d_test.cc
@@ -27,7 +27,7 @@ namespace {
 class RangeDataInserterTest2DTSDF : public ::testing::Test {
  protected:
   RangeDataInserterTest2DTSDF()
-      : tsdf_(MapLimits(1., Eigen::Vector2d(0., 7.), CellLimits(8, 1)), 2.0,
+      : tsdf_(MapLimits(1., Eigen::Vector2d(1., 7.), CellLimits(8, 1)), 2.0,
               10.0, &conversion_tables_) {
     auto parameter_dictionary = common::MakeDictionary(
         "return { "
@@ -346,4 +346,4 @@ TEST_F(RangeDataInserterTest2DTSDF, InsertPointsWithDistanceCellToHit) {
 
 }  // namespace
 }  // namespace mapping
-}  // namespace cartographer
\ No newline at end of file
+}  // namespace cartographer
diff --git a/cmake/modules/FindGMock.cmake b/cmake/modules/FindGMock.cmake
index 952679e..76cea16 100644
--- a/cmake/modules/FindGMock.cmake
+++ b/cmake/modules/FindGMock.cmake
@@ -30,6 +30,25 @@ if(NOT GMock_FOUND)
     PATHS
       /usr
   )
+  if(GMOCK_LIBRARIES)
+    find_library(GMOCK_LIBRARY
+      NAMES gmock
+      HINTS
+        ENV GMOCK_DIR
+      PATH_SUFFIXES lib
+      PATHS
+        /usr
+    )
+    find_library(GTEST_LIBRARY
+      NAMES gtest
+      HINTS
+        ENV GMOCK_DIR
+      PATH_SUFFIXES lib
+      PATHS
+        /usr
+    )
+    list(APPEND GMOCK_LIBRARIES ${GMOCK_LIBRARY} ${GTEST_LIBRARY})
+  endif()
 
   # Find system-wide gtest header.
   find_path(GTEST_INCLUDE_DIRS gtest/gtest.h
diff --git a/docs/source/index.rst b/docs/source/index.rst
index e466331..bdb8621 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -93,8 +93,8 @@ on systems that meet the following requirements:
 
 * 64-bit, modern CPU (e.g. 3rd generation i7)
 * 16 GB RAM
-* Ubuntu 16.04 (Xenial), 18.04 (Bionic)
-* gcc version 4.8.4, 5.4.0, 7.5.0
+* Ubuntu 16.04 (Xenial), 18.04 (Bionic), 20.04 (Focal)
+* gcc version 4.8.4, 5.4.0, 7.5.0, 9.3.0
 
 Known Issues
 ------------
diff --git a/scripts/install_debs_cmake.sh b/scripts/install_debs_cmake.sh
index 00d72d6..fe71846 100755
--- a/scripts/install_debs_cmake.sh
+++ b/scripts/install_debs_cmake.sh
@@ -45,11 +45,23 @@ sudo apt-get install -y \
     libgoogle-glog-dev \
     liblua5.2-dev \
     libsuitesparse-dev \
-    ninja-build \
-    python-sphinx
+    ninja-build
+
+if [[ "$(lsb_release -sc)" = "focal" ]]
+then
+    sudo apt-get install -y python3-sphinx libgmock-dev
+else
+    sudo apt-get install -y python-sphinx
+fi
 
 # Install Ceres Solver on Ubuntu Bionic. No need to build it ourselves.
 if [[ "$(lsb_release -sc)" = "bionic" ]]
 then
   sudo apt-get install -y libceres-dev
 fi
+
+# Install Ceres Solver and Protocol Buffers support on Ubuntu Focal. No need to build it ourselves.
+if [[ "$(lsb_release -sc)" = "focal" ]]
+then
+  sudo apt-get install -y libceres-dev protobuf-compiler
+fi