diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
index 6f83c2a..6a808fb 100644
--- a/.github/workflows/industrial_ci_action.yml
+++ b/.github/workflows/industrial_ci_action.yml
@@ -18,19 +18,19 @@ jobs:
       CACHE_PREFIX: "${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: cache ccache
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: pat-s/always-upload-cache@v3
         with:
           path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}  
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
           restore-keys: |
             ccache-${{ env.CACHE_PREFIX }}
       - name: industrial_ci
         uses: 'ros-industrial/industrial_ci@master'
         env: ${{ matrix.env }}
       - name: upload test artifacts (on failure)
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         if: failure()
         with:
           name: test-results
diff --git a/.github/workflows/prerelease.yaml b/.github/workflows/prerelease.yaml
index 0e44a17..b16c602 100644
--- a/.github/workflows/prerelease.yaml
+++ b/.github/workflows/prerelease.yaml
@@ -25,6 +25,6 @@ jobs:
     name: "${{ matrix.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/CMakeLists.txt b/CMakeLists.txt
index fcc2cb6..c6a8a69 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.10.2)
 project(moveit_msgs)
 
 set(MSG_DEPS