diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index a77f2647..725e43fe 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -18,11 +18,10 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - IMAGE: foxy-ci
-            CLANG_TIDY: pedantic
+          - IMAGE: humble-ci
     env:
       CXXFLAGS: "-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-deprecated-copy"
-      DOCKER_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.env.IMAGE }}
+      DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
       UPSTREAM_WORKSPACE: .github/workflows/upstream.rosinstall
       BEFORE_SETUP_UPSTREAM_WORKSPACE: .github/workflows/upstream_install.sh
       # Pull any updates to the upstream workspace (after restoring it from cache)
@@ -32,18 +31,14 @@ jobs:
       AFTER_BUILD_TARGET_WORKSPACE: ccache -s
       CCACHE_DIR: ${{ github.workspace }}/.ccache
       BASEDIR: ${{ github.workspace }}/.work
-      CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
-      BEFORE_CLANG_TIDY_CHECKS: (cd $TARGET_REPO_PATH; clang-tidy --list-checks)
-      CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
-      CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
 
-    name: ${{ matrix.env.IMAGE }}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' + clang-tidy (delta)' || ' + clang-tidy (all)') || '' }}
+    name: ${{ matrix.env.IMAGE }}
     runs-on: ubuntu-latest
     steps:
       - name: "Free up disk space"
         if: matrix.env.CCOV
         run: |
-          sudo apt-get -qq purge build-essential "ghc*"
+          sudo apt-get -qq purge build-essential ghc\*
           sudo apt-get clean
           # cleanup docker images not used by us
           docker system prune -af
@@ -74,20 +69,6 @@ jobs:
           restore-keys: ${{ env.CACHE_PREFIX }}
         env:
           CACHE_PREFIX: target_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }}
-      - name: Cache ccache
-        uses: pat-s/always-upload-cache@v2.1.5
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
-          restore-keys: |
-            ${{ env.CACHE_PREFIX }}-${{ github.sha }}
-            ${{ env.CACHE_PREFIX }}
-        env:
-          CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}
-      - name: Configure ccache
-        run: |
-          mkdir -p ${{ env.CCACHE_DIR }}
-          cp .github/ccache.conf ${{ env.CCACHE_DIR }}/ccache.conf
       - id: ici
         name: Run industrial_ci
         uses: ros-industrial/industrial_ci@master
@@ -98,12 +79,6 @@ jobs:
         with:
           name: test-results-${{ matrix.env.IMAGE }}
           path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
-      - name: Upload clang-tidy changes
-        uses: rhaschke/upload-git-patch-action@main
-        if: matrix.env.CLANG_TIDY
-        with:
-          name: clang-tidy
-          path: ${{ env.BASEDIR }}/target_ws/src/$(basename $(pwd))
       - name: Prepare target_ws for cache
         run: |
           du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
index dac65683..be59c65e 100644
--- a/.github/workflows/format.yaml
+++ b/.github/workflows/format.yaml
@@ -15,11 +15,9 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - uses: actions/setup-python@v2
-      - name: Install clang-format-10
-        run: sudo apt-get install clang-format-10
       - name: Install black
         run: sudo -H pip3 install black
-      - uses: pre-commit/action@v2.0.3
+      - uses: pre-commit/action@v3.0.0
         id: precommit
       - name: Upload pre-commit changes
         if: failure() && steps.precommit.outcome == 'failure'
diff --git a/.github/workflows/upstream.rosinstall b/.github/workflows/upstream.rosinstall
index bc3bf45c..28e9f8b1 100644
--- a/.github/workflows/upstream.rosinstall
+++ b/.github/workflows/upstream.rosinstall
@@ -1,7 +1,7 @@
 - git:
     local-name: hal_ros_control
     uri: https://github.com/zultron/hal_ros_control.git
-    version: 2022-01-07-foxy-devel
+    version: zultron/2023-04-14-humble-devel
 - git:
     local-name: ros2_control_demos
     # FIXME The rrbot demo avoids duplicating the rrbot description
@@ -11,6 +11,6 @@
     # packages.
     #
     # uri: https://github.com/ros-controls/ros2_control_demos.git
-    # version: foxy
+    # version: humble
     uri: https://github.com/zultron/ros2_control_demos.git
-    version: foxy-dev-parameterize-hardware-plugin
+    version: zultron/2023-04-14-humble-dev-parameterize-hardware-plugin