diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 258806b3..7a58a14b 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -56,6 +56,8 @@ jobs:
         token: ${{ secrets.MALIPUT_TOKEN }}
     # use setup-ros action to get vcs, rosdep, and colcon
     - uses: ros-tooling/setup-ros@0.0.25
+      env:
+        ACTIONS_ALLOW_UNSECURE_COMMANDS: true
     # install drake_vendor prereqs using dsim-repos-index/tools/prereqs.lib
     - name: install drake_vendor prereqs
       shell: bash