diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml
index 3a969190e..f844055dc 100644
--- a/.github/workflows/build-and-test.yml
+++ b/.github/workflows/build-and-test.yml
@@ -36,7 +36,7 @@ jobs:
           fetch-depth: 2 # https://github.com/codecov/codecov-action/issues/190#issuecomment-790729633
 
       - name: Setup ROS environment
-        uses: ros-tooling/setup-ros@v0.2
+        uses: ros-tooling/setup-ros@v0.5
         with:
           required-ros-distributions: ${{ matrix.ros_distribution }}
 
diff --git a/.github/workflows/codeql-analysis.yml b/.github/workflows/codeql-analysis.yml
index 574b9acd4..4b780b580 100644
--- a/.github/workflows/codeql-analysis.yml
+++ b/.github/workflows/codeql-analysis.yml
@@ -46,7 +46,7 @@ jobs:
         languages: ${{ matrix.language }}
 
     - name: Setup ROS environment
-      uses: ros-tooling/setup-ros@v0.2
+      uses: ros-tooling/setup-ros@v0.5
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}