From 1c7269a29d70feba1f5040fa752093d158fcc6a0 Mon Sep 17 00:00:00 2001
From: mosfet80 <10235105+mosfet80@users.noreply.github.com>
Date: Wed, 7 Jan 2026 21:01:14 +0100
Subject: [PATCH 1/3] Update upstream.repos

---
 .github/upstream.repos | 24 ++++++++++++++++--------
 1 file changed, 16 insertions(+), 8 deletions(-)

diff --git a/.github/upstream.repos b/.github/upstream.repos
index f09982304c..d7566131ae 100644
--- a/.github/upstream.repos
+++ b/.github/upstream.repos
@@ -7,14 +7,6 @@ repositories:
     type: git
     url: https://github.com/moveit/moveit_visual_tools
     version: ros2
-  rosparam_shortcuts:
-    type: git
-    url: https://github.com/PickNikRobotics/rosparam_shortcuts
-    version: ros2
-  rviz_visual_tools:
-    type: git
-    url: https://github.com/PickNikRobotics/rviz_visual_tools.git
-    version: ros2
   # Remove ros2_kortex when rolling binaries are available.
   ros2_kortex:
     type: git
@@ -30,3 +22,19 @@ repositories:
     type: git
     url: https://github.com/tylerjw/serial.git
     version: ros2
+  rviz_visual_tools:
+    type: git
+    url: https://github.com/PickNikRobotics/rviz_visual_tools.git
+    version: ros2
+  moveit2:
+    type: git
+    url: https://github.com/moveit/moveit2
+    version: main
+  moveit_resources:
+    type: git
+    url: https://github.com/moveit/moveit_resources
+    version: ros2
+  moveit_msgs:
+    type: git
+    url: https://github.com/moveit/moveit_msgs
+    version: ros2

From 71cefe7236de199b8a4d312acfa763a38c0c1c9a Mon Sep 17 00:00:00 2001
From: mosfet80 <10235105+mosfet80@users.noreply.github.com>
Date: Wed, 7 Jan 2026 21:17:52 +0100
Subject: [PATCH 2/3] Update ci.yaml

---
 .github/workflows/ci.yaml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index af0f185e45..1ae2a1b14c 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -20,7 +20,7 @@ jobs:
     strategy:
       matrix:
         env:
-          - IMAGE: rolling-source
+          - IMAGE: rolling-ci
 
     env:
       DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
@@ -35,11 +35,11 @@ jobs:
     name: ${{ matrix.env.IMAGE }}
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: cache upstream_ws
-        uses: actions/cache@v4
+        uses: actions/cache@v6
         with:
           save-always: true
           path: ${{ env.BASEDIR }}/upstream_ws
@@ -57,7 +57,7 @@ jobs:
           restore-keys: |
             target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
       - name: cache ccache
-        uses: actions/cache@v4
+        uses: actions/cache@v6
         with:
           save-always: true
           path: ${{ env.CCACHE_DIR }}

From 90f3d206c4ffbf554b72aa956be24b492e828531 Mon Sep 17 00:00:00 2001
From: mosfet80 <10235105+mosfet80@users.noreply.github.com>
Date: Wed, 7 Jan 2026 21:19:41 +0100
Subject: [PATCH 3/3] Update ci.yaml

---
 .github/workflows/ci.yaml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 1ae2a1b14c..f26cb78bee 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -39,7 +39,7 @@ jobs:
         with:
           fetch-depth: 0
       - name: cache upstream_ws
-        uses: actions/cache@v6
+        uses: actions/cache@v5
         with:
           save-always: true
           path: ${{ env.BASEDIR }}/upstream_ws
@@ -49,7 +49,7 @@ jobs:
       # The target directory cache doesn't include the source directory because
       # that comes from the checkout.  See "prepare target_ws for cache" task below
       - name: cache target_ws
-        uses: actions/cache@v4
+        uses: actions/cache@v5
         with:
           save-always: true
           path: ${{ env.BASEDIR }}/target_ws
@@ -57,7 +57,7 @@ jobs:
           restore-keys: |
             target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
       - name: cache ccache
-        uses: actions/cache@v6
+        uses: actions/cache@v5
         with:
           save-always: true
           path: ${{ env.CCACHE_DIR }}