diff --git a/.github/workflows/run-unit-tests.yml b/.github/workflows/run-unit-tests.yml
index adf4a121..4b9dc9cd 100644
--- a/.github/workflows/run-unit-tests.yml
+++ b/.github/workflows/run-unit-tests.yml
@@ -32,9 +32,14 @@ jobs:
         # https://ros.org/reps/rep-2000.html
         include:
           # Noetic Ninjemys (May 2020 - May 2025)
+          # - docker_image: ubuntu:focal
+          #   ros_distribution: noetic
+          #   ros_version: 1
+
+          # Foxy Fitzroy (May 2020 - May 2023)
           - docker_image: ubuntu:focal
-            ros_distribution: noetic
-            ros_version: 1
+            ros_distribution: foxy
+            ros_version: 2
 
           # Humble Hawksbill (May 2022 - May 2027)
           - docker_image: ubuntu:jammy
diff --git a/vortex-filtering/test/dynamic_model_test.cpp b/vortex-filtering/test/dynamic_model_test.cpp
index d8741487..2a71c498 100644
--- a/vortex-filtering/test/dynamic_model_test.cpp
+++ b/vortex-filtering/test/dynamic_model_test.cpp
@@ -51,8 +51,8 @@ TEST(DynamicModel, sampleSimpleModel)
   EXPECT_TRUE(isApproxEqual(approx_gauss.mean(), true_gauss.mean(), 0.1));
   EXPECT_TRUE(isApproxEqual(true_gauss.cov(), true_gauss.cov(), 0.1));
 
+  #ifdef GNUPLOT_ENABLE
   // Plot
-
   Gnuplot gp;
   gp << "set xrange [-10:10]\nset yrange [-10:10]\n";
   gp << "set style circle radius 0.05\n";
@@ -63,6 +63,7 @@ TEST(DynamicModel, sampleSimpleModel)
   gp << "set object 1 ellipse center " << cov_ellipse.x() << "," << cov_ellipse.y() << " size " << 3 * cov_ellipse.a() << "," << 3 * cov_ellipse.b()
      << " angle " << cov_ellipse.angle_deg() << "fs empty border lc rgb 'cyan'\n";
   gp << "replot\n";
+  #endif
 }
 
 } // namespace simple_dynamic_model_test
diff --git a/vortex-filtering/test/ekf_test.cpp b/vortex-filtering/test/ekf_test.cpp
index a6c013b1..5b04eb41 100644
--- a/vortex-filtering/test/ekf_test.cpp
+++ b/vortex-filtering/test/ekf_test.cpp
@@ -104,6 +104,7 @@ TEST_F(EKFTestCVModel, convergence)
   }
   time.pop_back();
 
+  #ifdef GNUPLOT_ENABLE
   Gnuplot gp;
   gp << "set terminal qt size 1600,1000\n"; // Modified to make plot larger
   gp << "set multiplot layout 2,1\n";
@@ -126,4 +127,5 @@ TEST_F(EKFTestCVModel, convergence)
   gp.send1d(std::make_tuple(time, x_true_u));
   gp.send1d(std::make_tuple(time, x_est_u));
   gp << "unset multiplot\n";
+  #endif
 }
\ No newline at end of file
diff --git a/vortex-filtering/test/numerical_integration_test.cpp b/vortex-filtering/test/numerical_integration_test.cpp
index 6d5d19ac..6c07b5aa 100644
--- a/vortex-filtering/test/numerical_integration_test.cpp
+++ b/vortex-filtering/test/numerical_integration_test.cpp
@@ -76,6 +76,7 @@ class NumericalIntegration : public ::testing::Test {
 
   void plot_result(std::string title = "ERK convergence")
   {
+    #ifdef GNUPLOT_ENABLE
     // Plot first state and true solution against time
     Gnuplot gp;
     gp << "set terminal wxt size 1200,800\n";
@@ -87,6 +88,8 @@ class NumericalIntegration : public ::testing::Test {
     gp << "plot '-' with lines title 'True', '-' with lines title 'Approx'\n";
     gp.send1d(std::make_tuple(t, vortex::plotting::extract_state_series(x_exact, 0)));
     gp.send1d(std::make_tuple(t, vortex::plotting::extract_state_series(x_est, 0)));
+    #endif
+    (void)title;
   }
 };
 
diff --git a/vortex-filtering/test/probability_test.cpp b/vortex-filtering/test/probability_test.cpp
index 6d45fcf2..edae4d29 100644
--- a/vortex-filtering/test/probability_test.cpp
+++ b/vortex-filtering/test/probability_test.cpp
@@ -94,6 +94,7 @@ TEST(MultiVarGauss, sample)
   double minorAxisLength = cov_ellipse.minor_axis();
   double angle           = cov_ellipse.angle_deg();
 
+  #ifdef GNUPLOT_ENABLE
   Gnuplot gp;
   gp << "set xrange [-10:10]\nset yrange [-10:10]\n";
   gp << "set style circle radius 0.05\n";
@@ -103,6 +104,7 @@ TEST(MultiVarGauss, sample)
   gp << "set object 1 ellipse center " << true_mean(0) << "," << true_mean(1) << " size " << majorAxisLength << "," << minorAxisLength << " angle " << angle
      << "fs empty border lc rgb 'cyan'\n";
   gp << "replot\n";
+  #endif
 
   EXPECT_TRUE(isApproxEqual(mean, true_mean, 0.5));
   EXPECT_TRUE(isApproxEqual(cov, true_cov, 0.5));
diff --git a/vortex-filtering/test/ukf_test.cpp b/vortex-filtering/test/ukf_test.cpp
index fb876407..4abc72bc 100644
--- a/vortex-filtering/test/ukf_test.cpp
+++ b/vortex-filtering/test/ukf_test.cpp
@@ -105,7 +105,6 @@ TEST_F(UKFtest, Convergence)
   double tol = 1e-1;
 
   // Plot results
-  Gnuplot gp;
 
   std::vector<double> x_est_mean, z_est_mean, x_est_std, x_p_std, x_m_std;
   for (int i = 0; i < n_steps; i++) {
@@ -116,6 +115,8 @@ TEST_F(UKFtest, Convergence)
     x_m_std.push_back(x_est.at(i).mean()(0) - std::sqrt(x_est.at(i).cov()(0, 0))); // x_est - std
   }
 
+  #ifdef GNUPLOT_ENABLE
+  Gnuplot gp;
   gp << "set terminal wxt size 1200,800\n";
   gp << "set title 'UKF convergence'\n";
   gp << "set xlabel 'Time [s]'\n";
@@ -130,6 +131,7 @@ TEST_F(UKFtest, Convergence)
   gp.send1d(std::make_tuple(time, x_true));
   gp.send1d(std::make_tuple(time, x_est_mean));
   gp.send1d(std::make_tuple(time, z_meas));
+  #endif
 
   // Check convergence