diff --git a/.github/workflows/test-humble.yml b/.github/workflows/test-humble.yml
index 3ff8973..0031448 100644
--- a/.github/workflows/test-humble.yml
+++ b/.github/workflows/test-humble.yml
@@ -12,7 +12,7 @@ jobs:
     steps:
       # Clone this repo
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Verify action
         shell: bash
diff --git a/.github/workflows/test-iron.yml b/.github/workflows/test-iron.yml
index 318cc8c..eae65b2 100644
--- a/.github/workflows/test-iron.yml
+++ b/.github/workflows/test-iron.yml
@@ -12,7 +12,7 @@ jobs:
     steps:
       # Clone this repo
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Verify action
         shell: bash
diff --git a/action.yml b/action.yml
index b32b816..94473f6 100644
--- a/action.yml
+++ b/action.yml
@@ -33,7 +33,7 @@ runs:
       run: echo "Packaging ${{ inputs.package }} for ${{ inputs.ros_distro }}"
 
     - name: Setup emsdk
-      uses: mymindstorm/setup-emsdk@v12
+      uses: mymindstorm/setup-emsdk@v14
       with:
         version: 3.1.45
 
@@ -47,12 +47,18 @@ runs:
       shell: bash -eux {0}
       run: mkdir -p ros-workspace/src
 
+    - name: Create environment
+      uses: mamba-org/setup-micromamba@v2
+      with:
+        environment-file: env.yaml
+        init-shell: bash
+        cache-environment: true
+
     - name: Copy ROS 2 ${{ inputs.ros_distro }} packages and middleware
-      shell: bash -eux {0}
+      shell: bash -el {0}
       run:  |
-        curl -s https://packagecloud.io/install/repositories/dirk-thomas/vcstool/script.deb.sh | sudo bash
-        sudo apt-get update
-        sudo apt-get install python3-vcstool
+        micromamba info
+        pip install vcstool
         vcs import --input https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros_distro }}/ros2.repos ros-workspace/src
         vcs import --input ${{ github.action_path }}/repos.yaml ros-workspace/src
 
@@ -60,7 +66,7 @@ runs:
       if: ${{ inputs.rmw_wasm }}
       uses: actions/checkout@v4
       with:
-        repository: ihuicatl/rmw_wasm
+        repository: ros2wasm/rmw_wasm
         path: ros-workspace/src/rmw_wasm
 
     - name: Remove unsupported packages
@@ -87,13 +93,6 @@ runs:
       run: |
         cp ${{ github.action_path }}/env.yaml ros-workspace/
 
-    - name: Create environment
-      uses: mamba-org/setup-micromamba@v1
-      with:
-        environment-file: ros-workspace/env.yaml
-        init-shell: bash
-        cache-environment: true
-
     - name: Build package
       shell: bash -el {0}
       run: |
@@ -101,7 +100,7 @@ runs:
         if [${{ inputs.debug }}]; then ${{ github.action_path }}/blasm.sh -d -v -u ${{ inputs.package }}; else ${{ github.action_path }}/blasm.sh -u ${{ inputs.package }}; fi
 
     - name: Upload artifacts for package
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
       with:
         name: ${{ inputs.package }}-artifacts
         path: |