diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 53e67b817..eab3e7460 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -3,18 +3,6 @@ name: Ubuntu CI
 on: [push, pull_request]
 
 jobs:
-  bionic-ci:
-    runs-on: ubuntu-latest
-    name: Ubuntu Bionic CI
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v2
-      - name: Compile and test
-        id: ci
-        uses: ignition-tooling/action-ignition-ci@bionic
-        with:
-          codecov-enabled: true
-          doxygen-enabled: true
   focal-ci:
     runs-on: ubuntu-latest
     name: Ubuntu Focal CI
@@ -24,3 +12,8 @@ jobs:
       - name: Compile and test
         id: ci
         uses: ignition-tooling/action-ignition-ci@focal
+        with:
+          codecov-enabled: true
+          cppcheck-enabled: true
+          cpplint-enabled: true
+          doxygen-enabled: true
diff --git a/README.md b/README.md
index e6e6cfed3..2dc37b502 100644
--- a/README.md
+++ b/README.md
@@ -10,7 +10,7 @@
 Build | Status
 -- | --
 Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-rendering/branch/main/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-rendering/branch/default)
-Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-main-bionic-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-main-bionic-amd64)
+Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-main-focal-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-main-focal-amd64)
 Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-main-homebrew-amd64)
 Windows       | [![Build Status](https://build.osrfoundation.org/job/ign_rendering-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_rendering-ci-win/)
 
diff --git a/include/ignition/rendering/HeightmapDescriptor.hh b/include/ignition/rendering/HeightmapDescriptor.hh
index baf35577e..95bb91487 100644
--- a/include/ignition/rendering/HeightmapDescriptor.hh
+++ b/include/ignition/rendering/HeightmapDescriptor.hh
@@ -191,7 +191,7 @@ inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
     public: ignition::math::Vector3d Size() const;
 
     /// \brief Set the heightmap's final size in world units. Defaults to 1x1x1.
-    /// \return The heightmap's size factor.
+    /// \param[in] _size The heightmap's size factor.
     public: void SetSize(const ignition::math::Vector3d &_size);
 
     /// \brief Get the heightmap's position offset.
@@ -199,7 +199,7 @@ inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
     public: ignition::math::Vector3d Position() const;
 
     /// \brief Set the heightmap's position offset.
-    /// \return The heightmap's position offset.
+    /// \param[in] _position The heightmap's position offset.
     public: void SetPosition(const ignition::math::Vector3d &_position);
 
     /// \brief Get whether the heightmap uses terrain paging.
diff --git a/include/ignition/rendering/Mesh.hh b/include/ignition/rendering/Mesh.hh
index a98c96790..46de7551d 100644
--- a/include/ignition/rendering/Mesh.hh
+++ b/include/ignition/rendering/Mesh.hh
@@ -121,8 +121,8 @@ namespace ignition
       public: virtual SubMeshPtr SubMeshByIndex(
                   unsigned int _index) const = 0;
 
-      /// \brief Set the mesh's mesh descriptor
-      /// \return The mesh's mesh descriptor
+      /// \brief Set the mesh's descriptor
+      /// \param[in] _desc The new mesh descriptor
       public: virtual void SetDescriptor(const MeshDescriptor &_desc) = 0;
 
       /// \brief Get the mesh's mesh descriptor
diff --git a/test/integration/camera.cc b/test/integration/camera.cc
index 92fd0f252..c28512fb5 100644
--- a/test/integration/camera.cc
+++ b/test/integration/camera.cc
@@ -570,23 +570,6 @@ void CameraTest::ShaderSelection(const std::string &_renderEngine)
            << _renderEngine << std::endl;
     return;
   }
-  else if (_renderEngine == "ogre2")
-  {
-    // \todo(anyone) test fails on github action (Bionic) but pass on other
-    // builds. Need to investigate further.
-    // Github action sets the MESA_GL_VERSION_OVERRIDE variable
-    // so check for this variable and disable test if it is set.
-#ifdef __linux__
-    std::string value;
-    bool result = common::env("MESA_GL_VERSION_OVERRIDE", value, true);
-    if (result && value == "3.3")
-    {
-      igndbg << "Test is run on machine with software rendering or mesa driver "
-             << "Skipping test. " << std::endl;
-      return;
-    }
-#endif
-  }
 
   // This test checks that custom shaders are being rendering correctly in
   // camera view. It also verifies that visual selection is working and the
diff --git a/tutorials/02_install.md b/tutorials/02_install.md
index 6a5b5a7f9..453456e2f 100644
--- a/tutorials/02_install.md
+++ b/tutorials/02_install.md
@@ -40,7 +40,7 @@ Be sure to replace `<#>` with a number value, such as `1` or `2`, depending on w
 
 ### Prerequisites
 
-Ubuntu Bionic 18.04 or above:
+Ubuntu Focal 20.04 or above:
 
 Install dependencies:
 ```
@@ -49,7 +49,6 @@ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `ls
 wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 sudo apt update
 sudo apt install -y \
-    g++-8 \
     cmake \
     pkg-config \
     git \
@@ -62,7 +61,6 @@ sudo apt install -y \
     libignition-math7-dev \
     libignition-common5-dev \
     libignition-plugin-dev
-sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 800 --slave /usr/bin/g++ g++ /usr/bin/g++-8 --slave /usr/bin/gcov gcov /usr/bin/gcov-8
 ```
 
 ### Supported Rendering Engines