diff --git a/.clang-tidy b/.clang-tidy
index d93b1f09..f26a47e9 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -4,7 +4,7 @@ Checks:          'performance-*,
                   modernize-redundant-void-arg,
                   modernize-use-nullptr,
                   modernize-use-default,
-		  modernize-use-emplace,
+                  modernize-use-emplace,
                   modernize-use-override,
                   modernize-use-using,
                   modernize-loop-convert,
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index d5cafd02..7a5952b8 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -71,7 +71,7 @@ jobs:
     name: "${{ matrix.distro }} mj-${{ matrix.mujoco }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' + clang-tidy (delta)' || ' + clang-tidy (all)') || '' }}"
     runs-on: ubuntu-20.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Cache upstream workspace
         uses: rhaschke/cache@main
         with:
@@ -110,7 +110,7 @@ jobs:
         uses: rhaschke/industrial_ci@ros-one
 
       - name: Upload test artifacts (on failure)
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
         with:
           name: test-results-${{ matrix.distro }}
diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
index ca318471..35938799 100644
--- a/.github/workflows/docker.yaml
+++ b/.github/workflows/docker.yaml
@@ -33,7 +33,7 @@ jobs:
 
     steps:
       - name: Check for apt updates
-        uses: rhaschke/docker-run-action@v4
+        uses: rhaschke/docker-run-action@main
         continue-on-error: true
         id: apt
         with:
diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
index c36b384d..2720c77d 100644
--- a/.github/workflows/format.yaml
+++ b/.github/workflows/format.yaml
@@ -13,13 +13,13 @@ jobs:
     name: pre-commit
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Install clang-format
         run: sudo apt-get update && sudo apt-get install clang-format -y
       # Catkin lint is installed but not included in pre-commit
       - name: Install catkin_lint
         uses: DavidPL1/install-catkin_lint-action@ros2
-      - uses: pre-commit/action@v3.0.0
+      - uses: pre-commit/action@v3.0.1
         id: precommit
       - name: Upload pre-commit changes
         if: failure() && steps.precommit.outcome == 'failure'
diff --git a/mujoco_ros/CHANGELOG.md b/mujoco_ros/CHANGELOG.md
index 71188078..b07864b0 100644
--- a/mujoco_ros/CHANGELOG.md
+++ b/mujoco_ros/CHANGELOG.md
@@ -9,6 +9,8 @@
 ### Fixed
 * Repaired SIGINT handler callback. `C-c` in the roslaunch terminal now shuts down the MuJoCo ROS node instead of escalating to SIGTERM.
 * Added actionlib to the list of mujoco_ros' dependencies.
+* Updated CI actions (#33).
+* Fixed linking order for mujoco_ros_mocap tests (#33).
 
 ### Changed
 * replaced `boost::shared_ptr` with `std::shared_ptr` or `std::unique_ptr` wherever possible (ROS 1 fast intra-process message-passing requires boost::shared_ptr).
diff --git a/mujoco_ros/src/offscreen_rendering.cpp b/mujoco_ros/src/offscreen_rendering.cpp
index 66a7d30c..99967bd4 100644
--- a/mujoco_ros/src/offscreen_rendering.cpp
+++ b/mujoco_ros/src/offscreen_rendering.cpp
@@ -101,9 +101,9 @@ void MujocoEnv::initializeRenderResources()
 		max_res_h = std::max(res_h, max_res_h);
 		max_res_w = std::max(res_w, max_res_w);
 
-		offscreen_.cams.emplace_back(
-		    std::make_unique<rendering::OffscreenCamera>(cam_id, cam_name, res_w, res_h, stream_type, use_segid, pub_freq,
-		                                                 &it, *nh_.get(), model_.get(), data_.get(), this));
+		offscreen_.cams.emplace_back(std::make_unique<rendering::OffscreenCamera>(cam_id, cam_name, res_w, res_h,
+		                                                                          stream_type, use_segid, pub_freq, &it,
+		                                                                          *nh_, model_.get(), data_.get(), this));
 	}
 
 	if (model_->vis.global.offheight < max_res_h || model_->vis.global.offwidth < max_res_w) {
diff --git a/mujoco_ros_mocap_plugin/test/CMakeLists.txt b/mujoco_ros_mocap_plugin/test/CMakeLists.txt
index 086e96e6..bca6013b 100755
--- a/mujoco_ros_mocap_plugin/test/CMakeLists.txt
+++ b/mujoco_ros_mocap_plugin/test/CMakeLists.txt
@@ -11,6 +11,6 @@ add_dependencies(mocap_test
 )
 
 target_link_libraries(mocap_test
-  ${catkin_LIBRARIES}
   ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
 )