diff --git a/.travis.yml b/.travis.yml
index 17ee656..41286c6 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -24,6 +24,7 @@ cache:
 env:
   - ROS_RELEASE=kinetic DOCKER_CACHE_FILE=/home/travis/docker/kinetic-cache.tar.gz
   - ROS_RELEASE=melodic DOCKER_CACHE_FILE=/home/travis/docker/melodic-cache.tar.gz
+  - ROS_RELEASE=noetic DOCKER_CACHE_FILE=/home/travis/docker/noetic-cache.tar.gz
 
 before_install:
   # $GITHUB_TOKEN must be a valid GitHub access token without access rights (https://github.com/settings/tokens).
diff --git a/Dockerfile.noetic b/Dockerfile.noetic
new file mode 100644
index 0000000..97cf6e1
--- /dev/null
+++ b/Dockerfile.noetic
@@ -0,0 +1,84 @@
+# Copyright 2020 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+FROM ros:noetic
+
+ARG CARTOGRAPHER_VERSION=master
+
+# We require a GitHub access token to be passed.
+ARG github_token
+
+# Prevent any interaction required by apt-get.
+# https://stackoverflow.com/questions/22466255
+ARG DEBIAN_FRONTEND=noninteractive
+
+# ROS Noetic's base image doesn't ship with sudo and git.
+RUN apt-get update && apt-get install -y sudo git && rm -rf /var/lib/apt/lists/*
+
+# First, we invalidate the entire cache if cartographer-project/cartographer has
+# changed. This file's content changes whenever master changes. See:
+# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
+ADD https://api.github.com/repos/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \
+    cartographer_ros/cartographer_version.json
+
+# wstool needs the updated rosinstall file to clone the correct repos.
+COPY cartographer_ros.rosinstall cartographer_ros/
+COPY scripts/prepare_catkin_workspace.sh cartographer_ros/scripts/
+RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
+    cartographer_ros/scripts/prepare_catkin_workspace.sh
+
+# rosdep needs the updated package.xml files to install the correct debs.
+COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ros/
+COPY cartographer_ros_msgs/package.xml catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
+COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_rviz/
+COPY scripts/install_debs.sh cartographer_ros/scripts/
+RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
+
+# Install Abseil and proto3.
+RUN /catkin_ws/src/cartographer/scripts/install_abseil.sh
+RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
+
+# Build, install, and test all packages individually to allow caching. The
+# ordering of these steps must match the topological package ordering as
+# determined by Catkin.
+COPY scripts/install.sh cartographer_ros/scripts/
+COPY scripts/catkin_test_results.sh cartographer_ros/scripts/
+
+COPY cartographer_ros_msgs catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
+RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs && \
+    cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
+        --catkin-make-args run_tests && \
+    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros_msgs
+
+RUN cartographer_ros/scripts/install.sh --pkg ceres-solver
+
+RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
+    cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
+
+COPY cartographer_ros catkin_ws/src/cartographer_ros/cartographer_ros/
+RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && \
+    cartographer_ros/scripts/install.sh --pkg cartographer_ros \
+        --catkin-make-args run_tests && \
+    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros
+
+COPY cartographer_rviz catkin_ws/src/cartographer_ros/cartographer_rviz/
+RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \
+    cartographer_ros/scripts/install.sh --pkg cartographer_rviz \
+        --catkin-make-args run_tests && \
+    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz
+
+COPY scripts/ros_entrypoint.sh /
+# A BTRFS bug may prevent us from cleaning up these directories.
+# https://btrfs.wiki.kernel.org/index.php/Problem_FAQ#I_cannot_delete_an_empty_directory
+RUN rm -rf cartographer_ros catkin_ws || true
diff --git a/cartographer_ros/package.xml b/cartographer_ros/package.xml
index fe5cc9c..cd64648 100644
--- a/cartographer_ros/package.xml
+++ b/cartographer_ros/package.xml
@@ -39,7 +39,7 @@
   <build_depend>git</build_depend>
   <build_depend>google-mock</build_depend>
   <build_depend>protobuf-dev</build_depend>
-  <build_depend>python-sphinx</build_depend>
+  <build_depend>python3-sphinx</build_depend>
 
   <depend version_gte="1.0.0">cartographer</depend>
   <depend version_gte="1.0.0">cartographer_ros_msgs</depend>