diff --git a/scripts/docker/_RosTeamWs_Docker_Defines.bash b/scripts/docker/_RosTeamWs_Docker_Defines.bash
index dbd67b7f..530d405d 100755
--- a/scripts/docker/_RosTeamWs_Docker_Defines.bash
+++ b/scripts/docker/_RosTeamWs_Docker_Defines.bash
@@ -19,8 +19,8 @@ source $docker_script_own_dir/../_RosTeamWs_Defines.bash
 
 # assoziative array which maps the chosen rosdistro to the name which is used to install the corresponding
 # ros distribution inside docker
-declare -r -A map_to_docker_ros_distro_name=( ["foxy"]="foxy" ["galactic"]="galactic" ["rolling"]="rolling" ["humble"]="humble")
-declare -r -A ros_distro_to_rtw_branch=( ["foxy"]="foxy" ["galactic"]="master" ["rolling"]="master" ["humble"]="master")
+declare -r -A map_to_docker_ros_distro_name=( ["noetic"]="noetic" ["foxy"]="foxy" ["galactic"]="galactic" ["rolling"]="rolling" ["humble"]="humble")
+declare -r -A ros_distro_to_rtw_branch=( ["noetic"]="master" ["foxy"]="foxy" ["galactic"]="master" ["rolling"]="master" ["humble"]="master")
 
 # $1 = name (tag) of the created docker image
 # $2 = Dockerfile which is used for creating the image
diff --git a/scripts/setup-ros-workspace.bash b/scripts/setup-ros-workspace.bash
index 62edb9bc..9d7090d0 100755
--- a/scripts/setup-ros-workspace.bash
+++ b/scripts/setup-ros-workspace.bash
@@ -7,7 +7,7 @@ source $setup_ws_script_own_dir/docker/_RosTeamWs_Docker_Defines.bash
 
 # All the possible supported ros distributions supported by rtw
 if [ -z "$ros_distributions_20_04" ]; then
-  readonly ros_distributions_20_04=("foxy" "galactic")
+  readonly ros_distributions_20_04=("noetic" "foxy" "galactic")
 fi
 if [ -z "$ros_distributions_22_04" ]; then
   readonly ros_distributions_22_04=("humble")
@@ -50,6 +50,8 @@ select_normal_or_nvidia_docker() {
     notify_user "To abort press <CTRL>+<C>, to continue press <ENTER>."
     read
   esac
+
+
 }
 
 check_user_input () {
@@ -357,6 +359,25 @@ create_workspace_docker () {
   sed -i "s/UBUNTU_DUMMY_VERSION/${ubuntu_version}/g" "$ws_docker_folder/Dockerfile"
   sed -i "s/ROS_DUMMY_VERSION/${docker_ros_distro_name}/g" "$ws_docker_folder/Dockerfile"
   sed -i "s/ROS_TEAM_WS_DUMMY_BRANCH/${rtw_branch_for_ros_distro}/g" "$ws_docker_folder/Dockerfile"
+  if [[ "${ubuntu_version}" == *20.04* ]]; then
+    DOCKER_FILE="$ws_docker_folder/Dockerfile"
+    TMP_FILE="$ws_docker_folder/.tmp_Dockerfile"
+    mv $DOCKER_FILE "$TMP_FILE"
+    TEST_LINE=`awk '$1 == "#" && $2 == "install" && $3 == "nala" { print NR }' $TMP_FILE`  # get line before `# install nala and upgrade` dependency
+    let CUT_LINE=$TEST_LINE-0
+    head -$CUT_LINE $TMP_FILE > $DOCKER_FILE
+
+    echo "RUN apt update -y && apt install -y wget" >> $DOCKER_FILE
+    echo "RUN echo \"deb [arch=amd64,arm64,armhf] http://deb.volian.org/volian/ scar main\" | tee /etc/apt/sources.list.d/volian-archive-scar-unstable.list" >> $DOCKER_FILE
+    echo "RUN wget -qO - https://deb.volian.org/volian/scar.key | tee /etc/apt/trusted.gpg.d/volian-archive-scar-unstable.gpg > /dev/null" >> $DOCKER_FILE
+    echo "RUN apt update -y && apt install -y nala-legacy" >> $DOCKER_FILE
+
+    # Add last part
+    let CUT_LINE=$TEST_LINE+2
+    tail -n +$CUT_LINE $TMP_FILE >> $DOCKER_FILE
+
+    rm $TMP_FILE
+  fi
 
   # setup ros_team_ws
   cp "$DOCKER_TEMPLATES/ros_team_ws_rc_docker" "$ws_docker_folder/."
diff --git a/templates/docker/nvidia.dockerfile b/templates/docker/nvidia.dockerfile
index 43d5d1a7..7322537c 100644
--- a/templates/docker/nvidia.dockerfile
+++ b/templates/docker/nvidia.dockerfile
@@ -9,12 +9,8 @@ ARG home
 # make bash default
 SHELL ["/bin/bash", "-c"]
 
-# upgrade to newest version
-RUN apt-get update -y && apt-get install -y nala
-RUN nala upgrade --assume-yes
-
 # install locales
-RUN nala install -y locales nala
+RUN apt update -y && apt install -y locales
 
 # Configure user env
 ENV TZ=Europe/Berlin
@@ -27,22 +23,34 @@ ENV LANG en_US.UTF-8
 ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
-# Nvidia variables
-ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
-
 # Make sure UTF-8 is supported
 RUN locale
 
+# install nala and upgrade
+RUN apt update -y && apt install -y nala
+RUN nala upgrade -y
+
+# Nvidia variables
+ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
+
 # Install basic utilities
-RUN nala update && nala install -y git nano sudo tmux tree vim iputils-ping wget bash-completion pre-commit trash-cli gh
+RUN nala update && nala install -y git git-lfs nano sudo tmux tree vim iputils-ping wget bash-completion pip trash-cli
+RUN pip install pre-commit
 
-# install ROS2:ROS_DUMMY_VERSION dependencies
+# install ROS:ROS_DUMMY_VERSION dependencies
 RUN nala install -y curl gnupg gnupg2 lsb-release software-properties-common && apt-add-repository universe
+
+# Add key to keyring
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+# ROS repository
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" | tee /etc/apt/sources.list.d/ros.list > /dev/null
+
+# ROS2 repository
 RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
-# install ROS2:ROS_DUMMY_VERSION and things needed for ros development, DEBIAN_FRONTEND is needed to ignore interactive keyboard layout setting while install
-RUN nala update && DEBIAN_FRONTEND=noniteractive nala install -y ros-ROS_DUMMY_VERSION-desktop pip python3-colcon-common-extensions python3-vcstool
+# install ROS:ROS_DUMMY_VERSION and things needed for ros development, DEBIAN_FRONTEND is needed to ignore interactive keyboard layout setting while install
+RUN nala update && DEBIAN_FRONTEND=noniteractive nala install -y ros-ROS_DUMMY_VERSION-desktop python3-colcon-common-extensions python3-vcstool
 RUN pip install -U rosdep && \
     rosdep init
 
diff --git a/templates/docker/standard.dockerfile b/templates/docker/standard.dockerfile
index adb19523..4b2a93c5 100644
--- a/templates/docker/standard.dockerfile
+++ b/templates/docker/standard.dockerfile
@@ -9,12 +9,8 @@ ARG home
 # make bash default
 SHELL ["/bin/bash", "-c"]
 
-# upgrade to newest version
-RUN apt-get update -y && apt-get install -y nala
-RUN nala upgrade --assume-yes
-
 # install locales
-RUN nala install -y locales nala
+RUN apt update -y && apt install -y locales
 
 # Configure user env
 ENV TZ=Europe/Berlin
@@ -30,16 +26,28 @@ ENV LC_ALL en_US.UTF-8
 # Make sure UTF-8 is supported
 RUN locale
 
+# install nala and upgrade
+RUN apt update -y && apt install -y nala
+RUN nala upgrade -y
+
 # Install basic utilities
-RUN nala update && nala install -y git nano sudo tmux tree vim iputils-ping wget bash-completion pre-commit trash-cli gh
+RUN nala update && nala install -y git git-lfs nano sudo tmux tree vim iputils-ping wget bash-completion pip trash-cli
+RUN pip install pre-commit
 
-# install ROS2:ROS_DUMMY_VERSION dependencies
+# install ROS:ROS_DUMMY_VERSION dependencies
 RUN nala install -y curl gnupg gnupg2 lsb-release software-properties-common && apt-add-repository universe
+
+# Add key to keyring
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+# ROS repository
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" | tee /etc/apt/sources.list.d/ros.list > /dev/null
+
+# ROS2 repository
 RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
-# install ROS2:ROS_DUMMY_VERSION and things needed for ros development, DEBIAN_FRONTEND is needed to ignore interactive keyboard layout setting while install
-RUN nala update && DEBIAN_FRONTEND=noniteractive nala install -y ros-ROS_DUMMY_VERSION-desktop pip python3-colcon-common-extensions python3-vcstool
+# install ROS:ROS_DUMMY_VERSION and things needed for ros development, DEBIAN_FRONTEND is needed to ignore interactive keyboard layout setting while install
+RUN nala update && DEBIAN_FRONTEND=noniteractive nala install -y ros-ROS_DUMMY_VERSION-desktop python3-colcon-common-extensions python3-vcstool
 RUN pip install -U rosdep && \
     rosdep init