diff --git a/.github/workflows/build-benchmark.yml b/.github/workflows/build-benchmark.yml
index fb05a583d..44bedfb37 100644
--- a/.github/workflows/build-benchmark.yml
+++ b/.github/workflows/build-benchmark.yml
@@ -12,6 +12,7 @@ jobs:
         os: [ubuntu-latest, ubuntu-24.04-arm]
     runs-on: ${{ matrix.os }}
     env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
       PSModulePath: ""
 
     steps:
@@ -28,11 +29,24 @@ jobs:
           cache: true
           cache-key: pixi-${{ hashFiles('pixi.toml', 'pixi.lock') }}-
 
+      - name: Restore compiler cache
+        uses: actions/cache@v5
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('pixi.lock') }}-${{ github.sha }}
+          restore-keys: |
+            ccache-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('pixi.lock') }}-
+            ccache-${{ runner.os }}-${{ runner.arch }}-
+
       - name: Measure clean and incremental builds
         run: >-
           python3 scripts/benchmark_build.py
           --output build-benchmark-${{ runner.arch }}.json
 
+      - name: Show compiler cache statistics
+        if: always()
+        run: pixi run -e default ccache --show-stats
+
       - name: Upload benchmark results
         if: always()
         uses: actions/upload-artifact@v7
diff --git a/pixi.lock b/pixi.lock
index d0e75f9be..4f9704a3e 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -50,6 +50,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/cbor2-5.9.0-py312h5253ce2_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ccache-4.13.6-hedf47ba_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cffi-2.0.0-py312h460c074_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-21-21.1.8-default_h99862b1_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-21.1.8-default_h99862b1_4.conda
@@ -207,6 +208,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/libharfbuzz-14.2.1-h17a8019_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libharfbuzz-devel-14.2.1-h17a8019_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libhiredis-1.3.0-h5888daf_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libhwloc-2.13.0-default_he001693_1000.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libhwy-1.4.0-h10be129_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libiconv-1.18-h3b78370_2.conda
@@ -1005,7 +1007,7 @@ environments:
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       - conda: https://data.bit-bots.de/conda-misc/output/noarch/readline-8.3-h4616a5c_1.conda
       - conda: https://data.bit-bots.de/conda-misc/output/noarch/tts-supertonic-1.0.0-h4616a5c_1.conda
-      - conda_source: bitbots_rust_nav[146a3083] @ src/bitbots_navigation/bitbots_rust_nav
+      - conda_source: bitbots_rust_nav[86a45c09] @ src/bitbots_navigation/bitbots_rust_nav
       - pypi: https://files.pythonhosted.org/packages/05/98/716a473cfb24750858ddd5d14e6527539dd206583a46408d08eeb2844a75/trimesh-4.12.2-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/0d/de/0880cf8af64b225bc8fde0924f76ea5e6cd8d8dc50c6dd61232beb54327f/mjviser-0.0.12-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/18/29/71729b4671f21e1eaa5d6573031ab810ad2936c8175f03f97f3ff164c802/websockets-16.0-cp312-cp312-manylinux1_x86_64.manylinux_2_28_x86_64.manylinux_2_5_x86_64.whl
@@ -1047,6 +1049,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/cairo-1.18.4-h0b6afd8_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/cbor2-5.9.0-py312hd41f8a7_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/ccache-4.13.6-h185addb_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/cffi-2.0.0-py312h1b372e3_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/clang-format-21-21.1.8-default_he95a3c9_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/clang-format-21.1.8-default_he95a3c9_4.conda
@@ -1201,6 +1204,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libharfbuzz-devel-14.2.1-h3a99ef3_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libhiredis-1.3.0-h5ad3122_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libhwloc-2.13.0-default_ha95e27d_1000.conda
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       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libiconv-1.18-h90929bb_2.conda
@@ -1994,7 +1998,7 @@ environments:
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       - conda: https://data.bit-bots.de/conda-misc/output/noarch/readline-8.3-h4616a5c_1.conda
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-      - conda_source: bitbots_rust_nav[36aa2fce] @ src/bitbots_navigation/bitbots_rust_nav
+      - conda_source: bitbots_rust_nav[c62e9b86] @ src/bitbots_navigation/bitbots_rust_nav
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/cbor2-5.9.0-py312h5253ce2_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ccache-4.13.6-hedf47ba_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cffi-2.0.0-py312h460c074_1.conda
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-21.1.8-default_h99862b1_4.conda
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/libharfbuzz-devel-14.2.1-h17a8019_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libhiredis-1.3.0-h5888daf_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libhwloc-2.13.0-default_he001693_1000.conda
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       - conda: https://data.bit-bots.de/conda-misc/output/noarch/tts-supertonic-1.0.0-h4616a5c_1.conda
-      - conda_source: bitbots_rust_nav[146a3083] @ src/bitbots_navigation/bitbots_rust_nav
+      - conda_source: bitbots_rust_nav[86a45c09] @ src/bitbots_navigation/bitbots_rust_nav
       - pypi: https://files.pythonhosted.org/packages/05/98/716a473cfb24750858ddd5d14e6527539dd206583a46408d08eeb2844a75/trimesh-4.12.2-py3-none-any.whl
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       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/cbor2-5.9.0-py312hd41f8a7_0.conda
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       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/cffi-2.0.0-py312h1b372e3_1.conda
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       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/clang-format-21.1.8-default_he95a3c9_4.conda
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       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libharfbuzz-devel-14.2.1-h3a99ef3_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libhiredis-1.3.0-h5ad3122_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libhwloc-2.13.0-default_ha95e27d_1000.conda
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-      - conda_source: bitbots_rust_nav[36aa2fce] @ src/bitbots_navigation/bitbots_rust_nav
+      - conda_source: bitbots_rust_nav[c62e9b86] @ src/bitbots_navigation/bitbots_rust_nav
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@@ -4585,6 +4593,22 @@ packages:
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   size: 116357
   timestamp: 1775229769097
+- conda: https://conda.anaconda.org/conda-forge/linux-64/ccache-4.13.6-hedf47ba_0.conda
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+  md5: d66e791d7524770340296e9d34e7f324
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+  - libstdcxx >=14
+  - __glibc >=2.17,<3.0.a0
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+  - xxhash >=0.8.3,<0.8.4.0a0
+  - zstd >=1.5.7,<1.6.0a0
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+  license_family: GPL
+  purls: []
+  run_exports: {}
+  size: 855698
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@@ -4780,7 +4804,7 @@ packages:
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-  - pkg:pypi/coverage?source=hash-mapping
+  - pkg:pypi/coverage?source=compressed-mapping
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   timestamp: 1783019257881
@@ -7258,6 +7282,21 @@ packages:
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   size: 1970690
   timestamp: 1782800603897
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libhiredis-1.3.0-h5888daf_1.conda
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+  - libgcc >=13
+  - libstdcxx >=13
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+  license_family: BSD
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@@ -11985,6 +12024,21 @@ packages:
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+- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/ccache-4.13.6-h185addb_0.conda
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@@ -19073,7 +19141,7 @@ packages:
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+  - pkg:pypi/decorator?source=compressed-mapping
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+  - pkg:pypi/sphinxcontrib-serializinghtml?source=compressed-mapping
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@@ -37248,7 +37316,7 @@ packages:
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   size: 244991335
   timestamp: 1771976595791
-- conda_source: bitbots_rust_nav[146a3083] @ src/bitbots_navigation/bitbots_rust_nav
+- conda_source: bitbots_rust_nav[86a45c09] @ src/bitbots_navigation/bitbots_rust_nav
   variants:
     c_stdlib: sysroot
     c_stdlib_version: '2.28'
@@ -37317,7 +37385,7 @@ packages:
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-- conda_source: bitbots_rust_nav[36aa2fce] @ src/bitbots_navigation/bitbots_rust_nav
+- conda_source: bitbots_rust_nav[c62e9b86] @ src/bitbots_navigation/bitbots_rust_nav
   variants:
     c_stdlib: sysroot
     c_stdlib_version: '2.28'
diff --git a/pixi.toml b/pixi.toml
index 9a1c1efce..87d7caf97 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -22,11 +22,11 @@ format = {cmd = "sh -c 'pre-commit run --all-files --hook-stage \"${PRE_COMMIT_S
 # Use broad warnings and treat them as errors for repository code.
 # C++ also enables pedantic diagnostics. C keeps pedantic diagnostics non-fatal because ROS generators emit C code
 # that is not pedantic-clean.
-cmd = "colcon build --symlink-install --packages-skip zed_wrapper zed_components zed_msgs zed_ros2 --cmake-args -G Ninja -DCMAKE_C_FLAGS='-Wall -Wextra -Werror -Wno-error=pedantic' -DCMAKE_CXX_FLAGS='-Wall -Wextra -Wpedantic -Werror' "
+cmd = "colcon build --symlink-install --packages-skip zed_wrapper zed_components zed_msgs zed_ros2 --cmake-args -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_C_FLAGS='-Wall -Wextra -Werror -Wno-error=pedantic' -DCMAKE_CXX_FLAGS='-Wall -Wextra -Wpedantic -Werror' "
 description = "Builds all ROS 2 packages. Add --packages-select <package names> to build specific packages."
 
 [feature.robot.tasks.build]
-cmd = "colcon build --symlink-install --cmake-args -G Ninja -DCMAKE_C_FLAGS='-Wall -Wextra -Werror -Wno-error=pedantic' -DCMAKE_CXX_FLAGS='-Wall -Wextra -Wpedantic -Werror' "
+cmd = "colcon build --symlink-install --cmake-args -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_C_FLAGS='-Wall -Wextra -Werror -Wno-error=pedantic' -DCMAKE_CXX_FLAGS='-Wall -Wextra -Wpedantic -Werror' "
 description = "Builds all ROS 2 packages. Add --packages-select <package names> to build specific packages."
 
 [tasks.clean]
@@ -51,6 +51,7 @@ readline = ">=8.2.999"  # This is needed because we want to install an empty rea
 alsa-plugins = ">=1.2.12,<2"
 beartype = ">=0.22.6,<0.23"
 breathe = ">=4.36.0,<5"
+ccache = ">=4.13.6,<5"
 cbor2 = ">=5.9.0,<6"
 cmake = "<3.30"  # Constraint to avoid issues with deprecated features in newer cmake versions
 colorama = ">=0.4.6,<0.5"