diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml
index f3671bf..477409f 100644
--- a/.github/workflows/build_test.yml
+++ b/.github/workflows/build_test.yml
@@ -17,10 +17,7 @@ jobs:
           - {rosdistro: 'humble', container: 'osrf/ros:humble-desktop'}
     container: ${{ matrix.config.container }}
     steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-        github-token: ${{ secrets.GITHUB_TOKEN }}
+    - uses: actions/checkout@v4
     - name: Install Dependencies
       working-directory: 
       run: |
diff --git a/.github/workflows/check_style.yml b/.github/workflows/check_style.yml
index e267fe3..1a71114 100644
--- a/.github/workflows/check_style.yml
+++ b/.github/workflows/check_style.yml
@@ -18,7 +18,7 @@ jobs:
         - 'px4io/px4-dev-simulation-focal:2020-09-14'
     container: ${{ matrix.container }}
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
     - name: submodule update
       run: git submodule update --init --recursive
     - name: Install clang-format
diff --git a/.github/workflows/doxygen_build.yml b/.github/workflows/doxygen_build.yml
new file mode 100644
index 0000000..8190357
--- /dev/null
+++ b/.github/workflows/doxygen_build.yml
@@ -0,0 +1,18 @@
+name: Doxygen Build
+on:
+  push:
+    branches:
+      - 'ros2'
+  pull_request:
+    branches:
+      - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    steps:
+    - uses: actions/checkout@v4
+    - uses: mattnotmitt/doxygen-action@v1.9.5
+
diff --git a/.github/workflows/doxygen.yml b/.github/workflows/doxygen_deploy.yml
similarity index 57%
rename from .github/workflows/doxygen.yml
rename to .github/workflows/doxygen_deploy.yml
index 695b668..94d7ea5 100644
--- a/.github/workflows/doxygen.yml
+++ b/.github/workflows/doxygen_deploy.yml
@@ -1,20 +1,19 @@
-name: Build Test
+name: Doxygen Deploy to GH Pages
 on:
   push:
-  pull_request:
     branches:
-    - '*'
+      - 'ros2'
 
 jobs:
   build:
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
+    permissions:
+      contents: write
     steps:
-    - uses: actions/checkout@v4
-    - uses: mattnotmitt/doxygen-action@v1.9.5
+    - uses: ./.github/workflows/doxygen_build.yml
     - uses: peaceiris/actions-gh-pages@v3
       with: 
         github_token: ${{ secrets.GITHUB_TOKEN }}
-        publish_dir: ./html
-
+        publish_dir: ./html
\ No newline at end of file