diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
index 8d92beebac..9747254619 100644
--- a/.github/workflows/ci-coverage-build.yml
+++ b/.github/workflows/ci-coverage-build.yml
@@ -19,7 +19,7 @@ jobs:
       - uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-tooling/action-ros-ci@0.3.5
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
index cc452e5afe..9f090b48ca 100644
--- a/.github/workflows/ci-format.yml
+++ b/.github/workflows/ci-format.yml
@@ -11,7 +11,7 @@ jobs:
     name: Format
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: actions/setup-python@v5.0.0
       with:
         python-version: '3.10'
diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
index ee8e25b7e5..313bf2f81b 100644
--- a/.github/workflows/ci-ros-lint.yml
+++ b/.github/workflows/ci-ros-lint.yml
@@ -11,7 +11,7 @@ jobs:
       matrix:
           linter: [cppcheck, copyright, lint_cmake]
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: ros-tooling/setup-ros@v0.7
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
@@ -41,7 +41,7 @@ jobs:
       matrix:
           linter: [cpplint]
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: ros-tooling/setup-ros@v0.7
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
diff --git a/.github/workflows/foxy-abi-compatibility.yml b/.github/workflows/foxy-abi-compatibility.yml
index 7ce17effd0..6494e627a4 100644
--- a/.github/workflows/foxy-abi-compatibility.yml
+++ b/.github/workflows/foxy-abi-compatibility.yml
@@ -11,7 +11,7 @@ jobs:
   abi_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: foxy
diff --git a/.github/workflows/galactic-abi-compatibility.yml b/.github/workflows/galactic-abi-compatibility.yml
index 06a48ef9c7..a5eb1e66c0 100644
--- a/.github/workflows/galactic-abi-compatibility.yml
+++ b/.github/workflows/galactic-abi-compatibility.yml
@@ -11,7 +11,7 @@ jobs:
   abi_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: galactic
diff --git a/.github/workflows/galactic-rhel-binary-build.yml b/.github/workflows/galactic-rhel-binary-build.yml
index 518fcc186a..132ecb0325 100644
--- a/.github/workflows/galactic-rhel-binary-build.yml
+++ b/.github/workflows/galactic-rhel-binary-build.yml
@@ -22,7 +22,7 @@ jobs:
       ROS_DISTRO: galactic
     container: ghcr.io/ros-controls/ros:galactic-rhel
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
       - run: |
diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
index 3f38d5b6ce..708ea5c1f4 100644
--- a/.github/workflows/humble-abi-compatibility.yml
+++ b/.github/workflows/humble-abi-compatibility.yml
@@ -11,7 +11,7 @@ jobs:
   abi_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: humble
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
index e63d047a72..3653d4f0f4 100644
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -22,7 +22,7 @@ jobs:
       ROS_DISTRO: humble
     container: ghcr.io/ros-controls/ros:humble-rhel
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
       - run: |
diff --git a/.github/workflows/prerelease-check.yml b/.github/workflows/prerelease-check.yml
index b9460bda47..809471897d 100644
--- a/.github/workflows/prerelease-check.yml
+++ b/.github/workflows/prerelease-check.yml
@@ -28,7 +28,7 @@ jobs:
   pre_release:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           ref: ${{ github.event.inputs.branch }}
       - name: industrial_ci
diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
index 490b680e7c..b184e5a7f4 100644
--- a/.github/workflows/reusable-industrial-ci-with-cache.yml
+++ b/.github/workflows/reusable-industrial-ci-with-cache.yml
@@ -58,10 +58,10 @@ jobs:
     steps:
       - name: Checkout ${{ inputs.ref }} when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Checkout ${{ inputs.ref }} on scheduled build
         if: ${{ github.event_name == 'schedule' }}
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref_for_scheduled_build }}
       - name: cache target_ws
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
index 95161f56ca..eda89bf629 100644
--- a/.github/workflows/reusable-ros-tooling-source-build.yml
+++ b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -29,7 +29,7 @@ jobs:
       - uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{ inputs.ros_distro }}
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref }}
       - uses: ros-tooling/action-ros-ci@0.3.5
diff --git a/.github/workflows/reviewer_lottery.yml b/.github/workflows/reviewer_lottery.yml
index 0365da3fbe..2edbc9b59e 100644
--- a/.github/workflows/reviewer_lottery.yml
+++ b/.github/workflows/reviewer_lottery.yml
@@ -7,7 +7,7 @@ jobs:
   test:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
     - uses: uesteibar/reviewer-lottery@v3
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index 4589e92e3b..3911434a23 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -11,7 +11,7 @@ jobs:
   abi_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: rolling
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index c418319cd7..ca29f92ca0 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -22,7 +22,7 @@ jobs:
       ROS_DISTRO: rolling
     container: ghcr.io/ros-controls/ros:rolling-rhel
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
       - run: |