diff --git a/Installation.md b/Installation.md
index c4fc828..670eb8a 100644
--- a/Installation.md
+++ b/Installation.md
@@ -6,14 +6,14 @@ Please read [this guide](https://github.com/uzh-rpg/rpg_esim/wiki/Installation-(
 
 ## Installation
 
-If it is not installed on your system yet, please install [ROS](http://www.ros.org/). Installation instructions can be found [here](http://wiki.ros.org/kinetic/Installation/Ubuntu).
-We tested ESIM with Ubuntu 16.04 and ROS Kinetic. If you have to use ROS Melodic, some specific instructions can be found [here](https://github.com/uzh-rpg/rpg_esim/wiki/Installation-(ROS-Melodic)).
+If it is not installed on your system yet, please install [ROS](http://www.ros.org/). Installation instructions can be found [here](http://wiki.ros.org/noetic/Installation/Ubuntu).
+We tested ESIM with Ubuntu 20.04 and ROS Noetic. If you have to use ROS Melodic, some specific instructions can be found [here](https://github.com/uzh-rpg/rpg_esim/wiki/Installation-(ROS-Melodic)).
 
 We recommend to create a new catkin workspace specifically for the simulator as follows:
     
     mkdir -p ~/sim_ws/src && cd ~/sim_ws
     catkin init
-    catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release
+    catkin config --extend /opt/ros/noetic --cmake-args -DCMAKE_BUILD_TYPE=Release
 
 Install `vcstools` if you do not have it already:
 
@@ -27,7 +27,7 @@ Clone this repository and run `vcstools`:
 
 Install `pcl_ros`:
 
-    sudo apt-get install ros-kinetic-pcl-ros
+    sudo apt-get install ros-noetic-pcl-ros
     sudo apt-get install libproj-dev
 
 Install `glfw`:
@@ -40,7 +40,7 @@ Install `glm`:
 
 Optionally install the trajectory server:
 
-    sudo apt-get install ros-kinetic-hector-trajectory-server
+    sudo apt-get install ros-noetic-hector-trajectory-server
 
 Disable the packages that are not needed: