diff --git a/.github/scripts/ccache_with_fix.sh b/.github/scripts/ccache_with_fix.sh
new file mode 100755
index 000000000..7235cc4d7
--- /dev/null
+++ b/.github/scripts/ccache_with_fix.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+
+BASEDIR=$(ls -d /__w/beluga/beluga/ros_ws/src/??????????? | head -n 1)
+
+echo "Using CCACHE_BASEDIR=$BASEDIR"
+
+exec \
+  env VERBOSE=1 \
+  env CCACHE_BASEDIR=$BASEDIR \
+  ccache $@
diff --git a/.github/workflows/ci_pipeline.yml b/.github/workflows/ci_pipeline.yml
index 7c0ff8f5a..b468c478b 100644
--- a/.github/workflows/ci_pipeline.yml
+++ b/.github/workflows/ci_pipeline.yml
@@ -11,6 +11,7 @@ jobs:
     runs-on: ubuntu-22.04
     env:
       ROS_DISTRO: humble
+      CCACHE_DEBUG: true
     container:
       image: ros:humble-ros-base-jammy
     steps:
@@ -25,16 +26,27 @@ jobs:
       - name: Install python packages
         run: pip install colcon-lcov-result==0.5.0 pre-commit==2.20.0
 
+      - name: Cache
+        uses: Chocobo1/setup-ccache-action@v1
+        with:
+          api_token: ${{ secrets.GITHUB_TOKEN }}
+          update_packager_index: false
+          remove_stale_cache: false
+
       - name: Build and test
         uses: ros-tooling/action-ros-ci@0.2.7
         with:
           package-name: beluga beluga_amcl
-          target-ros2-distro:  ${{ env.ROS_DISTRO }}
+          target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
           colcon-defaults: |
             {
               "build": {
-                "mixin": ["coverage-gcc", "coverage-pytest"]
+                "mixin": ["coverage-gcc", "coverage-pytest"],
+                "cmake-args": [
+                  "-DCMAKE_C_COMPILER_LAUNCHER=/__w/beluga/beluga/.github/scripts/ccache_with_fix.sh",
+                  "-DCMAKE_CXX_COMPILER_LAUNCHER=/__w/beluga/beluga/.github/scripts/ccache_with_fix.sh"
+                ]
               },
               "test": {
                 "mixin": ["coverage-pytest"]
@@ -42,6 +54,12 @@ jobs:
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/c75e4b34a3959524564afb584e2aa33c7eec323c/index.yaml
 
+      - name: Upload cache as artifact
+        uses: actions/upload-artifact@v3
+        with:
+          name: ccache
+          path: /github/home/.cache/ccache
+
       - name: Lint
         shell: bash
         run: |