diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index bcdb012..23ae17d 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -11,11 +11,11 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        docker_image: ['ros:humble-ros-base', 'ros:galactic-ros-base', 'ros:foxy-ros-base']
+        docker_image: ['ros:humble-ros-base']
     container:
       image: ${{ matrix.docker_image }}
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Install rustup dependencies
       run: |
         apt update
@@ -25,7 +25,8 @@ jobs:
         toolchain: stable
     - name: rosdep
       run: |
+        apt update && apt upgrade -y
         rosdep update
-        rosdep resolve -q ament_cmake std_msgs example_interfaces rclcpp rclcpp_action | sed '/^#/d' | xargs sudo apt install -y
+        rosdep resolve -q ament_cmake std_msgs example_interfaces | sed '/^#/d' | xargs sudo apt install -y
     - name: cargo test
       run: . /ros_entrypoint.sh && cargo test
diff --git a/src/cpp/CMakeLists.txt.j2 b/src/cpp/CMakeLists.txt.j2
index 1c04d6a..8ed993a 100644
--- a/src/cpp/CMakeLists.txt.j2
+++ b/src/cpp/CMakeLists.txt.j2
@@ -4,6 +4,9 @@ cmake_minimum_required(VERSION 3.16)
 project({{project_name}})
 
 find_package(rclcpp REQUIRED)
+{% if have_actions -%}
+find_package(rclcpp_action REQUIRED)
+{%- endif %}
 find_package(ament_cmake REQUIRED)
 {%- for pkg in packages %}
 find_package({{pkg}} REQUIRED)
@@ -15,7 +18,7 @@ target_include_directories({{project_name}} INTERFACE
   {%raw%}${{%endraw%}{{pkg}}_INCLUDE_DIRS}
 {%- endfor %}
 )
-target_link_libraries({{project_name}} INTERFACE rclcpp::rclcpp
+target_link_libraries({{project_name}} INTERFACE rclcpp::rclcpp {% if have_actions -%} rclcpp_action::rclcpp_action {%- endif %}
 {%- for pkg in packages %}
   {%raw%}${{%endraw%}{{pkg}}_LIBRARIES}
 {%- endfor %}
diff --git a/tests/cpp/package.xml b/tests/cpp/package.xml
index 52613da..38c7e76 100644
--- a/tests/cpp/package.xml
+++ b/tests/cpp/package.xml
@@ -8,6 +8,7 @@
   <license>Apache License 2.0</license>
 
   <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
   <depend>test_api</depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>