diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
index 5f5b350..5de3ecb 100644
--- a/.github/workflows/format.yaml
+++ b/.github/workflows/format.yaml
@@ -13,8 +13,7 @@ jobs:
     name: Format
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v4.1.1
-    - uses: actions/setup-python@v5
+    - uses: actions/checkout@v4
     - name: Install clang-format-10
       run: sudo apt-get install clang-format-10
-    - uses: pre-commit/action@v3.0.0
+    - uses: pre-commit/action@v3.0.1
diff --git a/.github/workflows/build_and_test.yaml b/.github/workflows/industrial_ci_action.yaml
similarity index 89%
rename from .github/workflows/build_and_test.yaml
rename to .github/workflows/industrial_ci_action.yaml
index cd2ae7a..b412960 100644
--- a/.github/workflows/build_and_test.yaml
+++ b/.github/workflows/industrial_ci_action.yaml
@@ -1,7 +1,7 @@
 # This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
 # For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
 
-name: Build And Test
+name: BuildAndTest
 
 on:
   workflow_dispatch:
@@ -17,8 +17,6 @@ jobs:
         env:
           - ROS_DISTRO: melodic
             ROS_REPO: main
-          - ROS_DISTRO: melodic
-            ROS_REPO: testing
           - ROS_DISTRO: noetic
             ROS_REPO: main
             CCOV: true
@@ -39,36 +37,40 @@ jobs:
     name: "${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.CLANG_TIDY && ' + clang-tidy' || '' }}"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       # The target directory cache doesn't include the source directory because
       # that comes from the checkout.  See "prepare target_ws for cache" task below
       - name: cache target_ws
         if: ${{ ! matrix.env.CCOV }}
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.BASEDIR }}/target_ws
           key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
           restore-keys: |
             target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+        env:
+          GHA_CACHE_SAVE: always
       - name: cache ccache
-        uses: pat-s/always-upload-cache@v3
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
           restore-keys: |
             ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
             ccache-${{ env.CACHE_PREFIX }}
+        env:
+          GHA_CACHE_SAVE: always
       - name: industrial_ci
-        uses: 'ros-industrial/industrial_ci@master'
+        uses: ros-industrial/industrial_ci@master
         env: ${{ matrix.env }}
       - name: upload test artifacts (on failure)
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
           name: test-results
           path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
       - name: upload codecov report
-        uses: codecov/codecov-action@v3
+        uses: codecov/codecov-action@v4
         if: ${{ matrix.env.CCOV }}
         with:
           files: ${{ env.BASEDIR }}/coverage.info
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index c1ef1cb..7ad3527 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v4.6.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -34,7 +34,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 23.3.0
+    rev: 24.8.0
     hooks:
       - id: black