diff --git a/.github/workflows/ros1.yaml b/.github/workflows/ros1.yaml
index adf18706..133baa9d 100644
--- a/.github/workflows/ros1.yaml
+++ b/.github/workflows/ros1.yaml
@@ -8,12 +8,12 @@ on:
 jobs:
   build_ros1:
     name: ROS1 CI
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
     steps:
-      - uses: ros-tooling/setup-ros@v0.2
+      - uses: ros-tooling/setup-ros@v0.7
         with:
-          required-ros-distributions: melodic
-      - uses: ros-tooling/action-ros-ci@v0.2
+          required-ros-distributions: noetic
+      - uses: ros-tooling/action-ros-ci@v0.3
         with:
           package-name: urdfdom
-          target-ros1-distro: melodic
+          target-ros1-distro: noetic
diff --git a/.github/workflows/ros2.yaml b/.github/workflows/ros2.yaml
index 0d7b3f07..39433477 100644
--- a/.github/workflows/ros2.yaml
+++ b/.github/workflows/ros2.yaml
@@ -9,12 +9,12 @@ jobs:
 
   build_ros2:
     name: ROS2 CI
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
-      - uses: ros-tooling/setup-ros@v0.2
+      - uses: ros-tooling/setup-ros@v0.7
         with:
-          required-ros-distributions: galactic
-      - uses: ros-tooling/action-ros-ci@v0.2
+          required-ros-distributions: rolling
+      - uses: ros-tooling/action-ros-ci@v0.3
         with:
           package-name: urdfdom
-          target-ros2-distro: galactic
+          target-ros2-distro: rolling
diff --git a/.github/workflows/system.yml b/.github/workflows/system.yaml
similarity index 92%
rename from .github/workflows/system.yml
rename to .github/workflows/system.yaml
index c255647a..1bd6dce9 100644
--- a/.github/workflows/system.yml
+++ b/.github/workflows/system.yaml
@@ -30,8 +30,8 @@ jobs:
               cxx: "g++",
             }
           - {
-              name: "Ubuntu Bionic GCC",
-              os: ubuntu-18.04,
+              name: "Ubuntu Focal GCC",
+              os: ubuntu-20.04,
               build_type: "Release",
               cc: "gcc",
               cxx: "g++",
@@ -44,7 +44,7 @@ jobs:
         run: |
           sudo apt-get -qq update
           sudo apt-get -qq upgrade -y
-          sudo apt-get -qq install -y build-essential cmake libconsole-bridge-dev liburdfdom-headers-dev libtinyxml-dev
+          sudo apt-get -qq install -y build-essential cmake libconsole-bridge-dev liburdfdom-headers-dev libtinyxml2-dev
           cmake --version
           gcc --version