diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
index f7e207b9..44e185a2 100644
--- a/.github/workflows/ci-coverage-build.yml
+++ b/.github/workflows/ci-coverage-build.yml
@@ -20,7 +20,7 @@ jobs:
       - uses: ros-tooling/setup-ros@0.7.0
         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 6c469e23..d01e5423 100644
--- a/.github/workflows/ci-format.yml
+++ b/.github/workflows/ci-format.yml
@@ -12,7 +12,7 @@ jobs:
     name: Format
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: actions/setup-python@v4.7.1
       with:
         python-version: '3.10'
diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
index 0b9b8adb..7be4b5a7 100644
--- a/.github/workflows/ci-ros-lint.yml
+++ b/.github/workflows/ci-ros-lint.yml
@@ -11,7 +11,7 @@ jobs:
       matrix:
           linter: [copyright, lint_cmake]
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: ros-tooling/setup-ros@0.7.0
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
@@ -28,7 +28,7 @@ jobs:
       matrix:
           linter: [cpplint]
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: ros-tooling/setup-ros@0.7.0
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
@@ -48,7 +48,7 @@ jobs:
     env:
       AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: ros-tooling/setup-ros@0.7.0
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
index 1be00cfc..fe7f32f4 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 bd3cfd6c..16bfaee7 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:${{ env.ROS_DISTRO }}-rhel
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: src/realtime_tools
       - run: |
diff --git a/.github/workflows/prerelease-check.yml b/.github/workflows/prerelease-check.yml
index b9460bda..80947189 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 bccad124..7a8c8b64 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 145ff6fc..fd835837 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@0.7.0
         with:
           required-ros-distributions: ${{ inputs.ros_distro }}
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref }}
       - uses: ros-tooling/action-ros-ci@0.3.5
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index 4589e92e..3911434a 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -11,7 +11,7 @@ jobs:
   abi_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: rolling
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index 6d6e1849..7637507c 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -22,7 +22,7 @@ jobs:
       ROS_DISTRO: rolling
     container: ghcr.io/ros-controls/ros:${{ env.ROS_DISTRO }}-rhel
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: src/realtime_tools
       - run: |