diff --git a/.github/workflows/build_and_test.yaml b/.github/workflows/build_and_test.yaml
index e6727edf..82097ddb 100644
--- a/.github/workflows/build_and_test.yaml
+++ b/.github/workflows/build_and_test.yaml
@@ -46,10 +46,11 @@ jobs:
     name: "${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}${{ matrix.env.CCOV && ' + ccov' || ''}}"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: cache upstream_ws
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: actions/cache@v4
         with:
+          save-always: true
           path: ${{ env.BASEDIR }}/upstream_ws
           key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: |
@@ -58,31 +59,33 @@ jobs:
       # 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: 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: upload test artifacts (on failure)
-        uses: actions/upload-artifact@v2
+        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@v1
+        uses: codecov/codecov-action@v4
         if: ${{ matrix.env.CCOV }}
         with:
           files: ${{ env.BASEDIR }}/coverage.info
diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
index 17dfb720..c582664f 100644
--- a/.github/workflows/format.yaml
+++ b/.github/workflows/format.yaml
@@ -13,8 +13,7 @@ jobs:
     name: Format
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
-    - uses: actions/setup-python@v2
+    - uses: actions/checkout@v4
     - name: Install clang-format-14
       run: sudo apt-get install clang-format-14
-    - uses: pre-commit/action@v2.0.0
+    - uses: pre-commit/action@v3.0.1
diff --git a/.github/workflows/prerelease.yaml b/.github/workflows/prerelease.yaml
index 5aa993a5..1433a9fc 100644
--- a/.github/workflows/prerelease.yaml
+++ b/.github/workflows/prerelease.yaml
@@ -5,22 +5,26 @@ name: pre-release
 
 on:
   workflow_dispatch:
+    inputs:
+      ROS_DISTRO:
+        type: string
+        required: true
+        description: 'ROS distribution codename:'
+        default: rolling
+
+permissions:
+  contents: read # to fetch code (actions/checkout)
 
 jobs:
   default:
-    strategy:
-      fail-fast: false
-      matrix:
-        distro: [foxy, galactic, humble, rolling]
-
     env:
-      ROS_DISTRO: ${{ matrix.distro }}
+      ROS_DISTRO: ${{ inputs.ROS_DISTRO }}
       PRERELEASE: true
       BASEDIR: ${{ github.workspace }}/.work
 
-    name: "${{ matrix.distro }}"
+    name: "${{ inputs.ROS_DISTRO }}"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: industrial_ci
         uses: ros-industrial/industrial_ci@master
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 1a38173c..574363b7 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: v3.4.0
+    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: 22.3.0
+    rev: 24.8.0
     hooks:
       - id: black