diff --git a/.github/workflows/build_and_test.yaml b/.github/workflows/build_and_test.yaml
index 3f6e48c..ebb9f32 100644
--- a/.github/workflows/build_and_test.yaml
+++ b/.github/workflows/build_and_test.yaml
@@ -13,12 +13,12 @@ on:
 jobs:
   industrial_ci:
     strategy:
+      fail-fast: false
       matrix:
         env:
-          - IMAGE: galactic-source
-            CLANG_TIDY: true
           - IMAGE: humble-source
           - IMAGE: rolling-source
+            CLANG_TIDY: true
 
     env:
       DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
@@ -33,12 +33,13 @@ jobs:
     name: ${{ matrix.env.IMAGE }}${{ matrix.env.CLANG_TIDY && ' + clang-tidy' || '' }}
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - name: cache upstream_ws
-        uses: pat-s/always-upload-cache@v3
+        uses: actions/cache@v4
         with:
+          save-always: true
           path: ${{ env.BASEDIR }}/upstream_ws
           key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit_visual_tools.repos') }}-${{ github.run_id }}
           restore-keys: |
@@ -46,22 +47,24 @@ jobs:
       # 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
-        uses: pat-s/always-upload-cache@v3
+        uses: actions/cache@v4
         with:
+          save-always: true
           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') }}
       - name: cache ccache
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: actions/cache@v4
         with:
+          save-always: true
           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 }}
       - name: industrial_ci
-        uses: 'ros-industrial/industrial_ci@master'
+        uses: ros-industrial/industrial_ci@master
         env: ${{ matrix.env }}
       - name: prepare target_ws for cache
         run: |
diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
index 1a42bd9..df7cda3 100644
--- a/.github/workflows/format.yaml
+++ b/.github/workflows/format.yaml
@@ -8,14 +8,14 @@ on:
   pull_request:
   push:
     branches:
-      - main
+      - ros2
 
 jobs:
   pre-commit:
     name: Format
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-    - name: Install clang-format-12
-      run: sudo apt-get install clang-format-12
-    - uses: pre-commit/action@v3.0.0
+    - uses: actions/checkout@v4
+    - name: Install clang-format-14
+      run: sudo apt-get install clang-format-14
+    - uses: pre-commit/action@v3.0.1
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index bb36db9..d3e1547 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
@@ -33,7 +33,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 23.3.0
+    rev: 24.8.0
     hooks:
       - id: black