diff --git a/.ci.prepare_codecov b/.ci.prepare_codecov
index 5f9be81..9877d9c 100755
--- a/.ci.prepare_codecov
+++ b/.ci.prepare_codecov
@@ -4,6 +4,8 @@ pushd $BASEDIR
 BLUE='\033[0;34m'
 NOCOLOR='\033[0m'
 
+apt-get -qq install lcov
+
 echo -e "${BLUE}Capture coverage info${NOCOLOR}"
 lcov --capture --directory target_ws --output-file coverage.info
 
diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
index 30d5a47..9162a81 100644
--- a/.github/workflows/industrial_ci_action.yml
+++ b/.github/workflows/industrial_ci_action.yml
@@ -11,24 +11,25 @@ jobs:
       matrix:
         env:
           - {
-            ROS_DISTRO: foxy, 
-            ROS_REPO: main, 
-            CCOV_UPLOAD: true,
-            CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_FLAGS='--coverage' -DCMAKE_CXX_FLAGS='--coverage'",
-            AFTER_RUN_TARGET_TEST: './.ci.prepare_codecov',
-            ADDITIONAL_DEBS: 'lcov'
-          }
+            IMAGE: 'foxy-ci',
+            CCOV: true,
+            AFTER_RUN_TARGET_TEST: './.ci.prepare_codecov'
+           }
           - {
-            ROS_DISTRO: foxy, 
-            ROS_REPO: testing, 
-            CCOV_UPLOAD: false
+            IMAGE: 'foxy-ci-testing',
           }
     env:
+      DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
       UPSTREAM_WORKSPACE: upstream.repos
+      CCOV: ${{ matrix.env.CCOV }}
       AFTER_SETUP_UPSTREAM_WORKSPACE: 'vcs pull $BASEDIR/upstream_ws/src'
+      TARGET_CMAKE_ARGS: >
+        -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}}
+        ${{ matrix.env.CCOV && '-DCMAKE_CXX_FLAGS="--coverage" --no-warn-unused-cli' || '' }}
       CCACHE_DIR: "${{ github.workspace }}/.ccache"
       BASEDIR: ${{ github.workspace }}/.work
-      CACHE_PREFIX: "${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}${{ matrix.env.CCOV_UPLOAD && '-ccov' || '' }}"
+      CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}"
+
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
@@ -39,12 +40,20 @@ jobs:
           key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('upstream.repos') }}-${{ github.run_id }}
           restore-keys: |
             upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('upstream.repos') }}
+      - name: cache target_ws
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt') }}-${{ hashFiles('**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt') }}-${{ hashFiles('**/package.xml') }}
       - name: cache ccache
         uses: pat-s/always-upload-cache@v2.1.3
         with:
           path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}  
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
           restore-keys: |
+            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
             ccache-${{ env.CACHE_PREFIX }}
       - name: industrial_ci
         uses: 'ros-industrial/industrial_ci@master'
@@ -57,6 +66,15 @@ jobs:
           path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
       - name: upload codecov report
         uses: codecov/codecov-action@v1
-        if: ${{ matrix.env.CCOV_UPLOAD }} 
+        if: ${{ env.CCOV }}
         with:
           files: ${{ env.BASEDIR }}/coverage.info
+      - name: prepare target_ws for cache
+        if: always()
+        run: |
+          sudo find ${{ env.BASEDIR }}/target_ws -name '*.gcov' -type f -delete
+          sudo find ${{ env.BASEDIR }}/target_ws -name '*.gcno' -type f -delete
+          sudo find ${{ env.BASEDIR }}/target_ws -name '*.gcda' -type f -delete
+          sudo find ${{ env.BASEDIR }}/target_ws -name '*/test_results*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws