diff --git a/.github/workflows/melodic.yml b/.github/workflows/melodic.yml
deleted file mode 100644
index 163a7f66..00000000
--- a/.github/workflows/melodic.yml
+++ /dev/null
@@ -1,13 +0,0 @@
-name: Melodic CI
-
-on: [push, pull_request]
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-      - name: docker setup and build
-        run: docker build . -t mesh_nav/melodic -f ci/Dockerfile-melodic
-      - name: catkin lint
-        run: docker run mesh_nav/melodic catkin_lint src
diff --git a/.github/workflows/noetic.yml b/.github/workflows/noetic.yml
index ab46af12..f30e90a3 100644
--- a/.github/workflows/noetic.yml
+++ b/.github/workflows/noetic.yml
@@ -1,6 +1,17 @@
 name: Noetic CI
 
-on: [push, pull_request]
+on:
+  push:
+    branches:
+      - 'master'
+      - 'noetic'
+  pull_request:
+    branches:
+      - 'master'
+      - 'noetic'
+  workflow_dispatch:
+    branches:
+      - '*'
 
 jobs:
   build:
diff --git a/README.md b/README.md
index 28c8d313..18673249 100644
--- a/README.md
+++ b/README.md
@@ -216,5 +216,4 @@ For the necessary localization of the robot relative to the mesh, we recommend u
 
 | ROS Distro  | GitHub CI | Develop | Documentation | Source Deb | Binary Deb |
 |-------------|-----------|---------|---------------|------------|------------|
-| **Melodic** | [![Melodic CI](https://github.com/uos/mesh_navigation/workflows/Melodic%20CI/badge.svg)](https://github.com/uos/mesh_navigation/actions?query=workflow%3A%22Melodic+CI%22) | [![Build Dev Status](http://build.ros.org/buildStatus/icon?job=Mdev__mesh_navigation__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdev__mesh_navigation__ubuntu_bionic_amd64) | [![Build Doc Status](http://build.ros.org/buildStatus/icon?job=Mdoc__mesh_navigation__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdoc__mesh_navigation__ubuntu_bionic_amd64) | [![Build Src Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__mesh_navigation__ubuntu_bionic__source)](http://build.ros.org/job/Msrc_uB__mesh_navigation__ubuntu_bionic__source) | [![Build Bin Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__mesh_navigation__ubuntu_bionic_amd64__binary)](http://build.ros.org/job/Mbin_uB64__mesh_navigation__ubuntu_bionic_amd64__binary) |
 | **Noetic**  | [![Noetic CI](https://github.com/uos/mesh_navigation/workflows/Noetic%20CI/badge.svg)](https://github.com/uos/mesh_navigation/actions?query=workflow%3A%22Noetic+CI%22) | [![Build Dev Status](http://build.ros.org/buildStatus/icon?job=Ndev__mesh_navigation__ubuntu_focal_amd64)](http://build.ros.org/job/Ndev__mesh_navigation__ubuntu_focal_amd64) | [![Build Doc Status](http://build.ros.org/buildStatus/icon?job=Ndoc__mesh_navigation__ubuntu_focal_amd64)](http://build.ros.org/job/Ndoc__mesh_navigation__ubuntu_focal_amd64) | [![Build Src Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__mesh_navigation__ubuntu_focal__source)](http://build.ros.org/job/Nsrc_uF__mesh_navigation__ubuntu_focal__source) | [![Build Bin Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__mesh_navigation__ubuntu_focal_amd64__binary)](http://build.ros.org/job/Nbin_uF64__mesh_navigation__ubuntu_focal_amd64__binary) | 
diff --git a/ci/Dockerfile-melodic b/ci/Dockerfile-melodic
deleted file mode 100644
index aeffd36f..00000000
--- a/ci/Dockerfile-melodic
+++ /dev/null
@@ -1,49 +0,0 @@
-FROM ubuntu:bionic
-
-# setup env
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
-ENV ROS_DISTRO melodic
-
-RUN apt update
-RUN apt install -q -y --no-install-recommends build-essential
-
-# setup timezone
-RUN echo 'Etc/UTC' > /etc/timezone
-RUN ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime
-RUN apt install -q -y --no-install-recommends tzdata
-
-# setup ROS
-RUN apt install -q -y --no-install-recommends dirmngr gnupg2 curl ca-certificates
-RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
-RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list'
-
-# barebones ros installation
-# - we want all packages to be installed as dependencies of our packages
-RUN apt update
-RUN apt install -q -y --no-install-recommends ros-${ROS_DISTRO}-ros
-RUN apt install -q -y --no-install-recommends python-rosdep
-
-# install catkin
-RUN apt install -q -y --no-install-recommends python-catkin-tools
-RUN apt install -q -y --no-install-recommends python-catkin-lint
-
-# setup workspace
-COPY . /catkin_ws/src/mesh_navigation
-WORKDIR /catkin_ws
-
-# install package dependencies
-RUN rosdep init && rosdep update && rosdep install --from-paths src -i -y --rosdistro $ROS_DISTRO
-
-# build workspace
-RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
-    catkin init && \
-    catkin build -v --no-notify"
-
-# remove apt update results
-RUN rm -rf /var/lib/apt/lists/*
-
-# make docker source the ros installation
-COPY ci/docker_entrypoint.sh /
-ENTRYPOINT ["/docker_entrypoint.sh"]
-CMD ["bash"]