diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 7aa80d0b..705db4f3 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -11,7 +11,7 @@ jobs:
         uses: actions/checkout@v2
       - name: Compile and test
         id: ci
-        uses: ignition-tooling/action-ignition-ci@master
+        uses: ignition-tooling/action-ignition-ci@bionic
         with:
           codecov-token: ${{ secrets.CODECOV_TOKEN }}
   focal-ci:
diff --git a/README.md b/README.md
index 0a24c8c6..02ab79fa 100644
--- a/README.md
+++ b/README.md
@@ -9,10 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-sensors/branch/master/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-sensors)  
-Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_sensors-ci-master-bionic-amd64)](https://build.osrfoundation.org/job/ignition_sensors-ci-master-bionic-amd64)  
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_sensors-ci-master-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_sensors-ci-master-homebrew-amd64)  
-Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_sensors-ci-master-windows7-amd64)](https://build.osrfoundation.org/job/ignition_sensors-ci-master-windows7-amd64)
+Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-sensors/branch/ign-sensors4/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-sensors)
+Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_sensors-ci-ign-sensors4-bionic-amd64)](https://build.osrfoundation.org/job/ignition_sensors-ci-ign-sensors4-bionic-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_sensors-ci-ign-sensors4-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_sensors-ci-ign-sensors4-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/job/ign_sensors-ign-4-win/badge/icon)](https://build.osrfoundation.org/job/ign_sensors-ign-4-win/)
 
 Ignition Sensors, a component of [Ignition
 Robotics](https://ignitionrobotics.org), provides numerous sensor models
@@ -29,7 +29,7 @@ designed to generate realistic data from simulation environments. Ignition Senso
 * [Source Install](#source-install)
 
     * [Prerequisites](#prerequisites)
-  
+
     * [Building from Source](#building-from-source)
 
 [Usage](#usage)
@@ -57,7 +57,7 @@ See the [installation tutorial](https://ignitionrobotics.org/api/sensors/4.0/ins
 
 # Usage
 
-Please refer to the [examples directory](https://github.com/ignitionrobotics/ign-sensors/raw/master/examples/).
+Please refer to the [examples directory](https://github.com/ignitionrobotics/ign-sensors/raw/ign-sensors4/examples/).
 
 # Folder Structure
 
@@ -74,18 +74,17 @@ Refer to the following table for information about important directories and fil
 ├── tutorials                 Tutorials, written in markdown.
 ├── Changelog.md              Changelog.
 ├── CMakeLists.txt            CMake build script.
-└── README.md                 This readme.  
+└── README.md                 This readme.
 ```
 
 # Contributing
 
-Please see
-[CONTRIBUTING.md](https://github.com/ignitionrobotics/ign-gazebo/blob/master/CONTRIBUTING.md).
+Please see the [contribution guide](https://ignitionrobotics.org/docs/all/contributing).
 
 # Code of Conduct
 
 Please see
-[CODE_OF_CONDUCT.md](https://github.com/ignitionrobotics/ign-gazebo/blob/master/CODE_OF_CONDUCT.md).
+[CODE_OF_CONDUCT.md](https://github.com/ignitionrobotics/ign-gazebo/blob/main/CODE_OF_CONDUCT.md).
 
 # Versioning
 
@@ -93,4 +92,4 @@ This library uses [Semantic Versioning](https://semver.org/). Additionally, this
 
 # License
 
-This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/ignitionrobotics/ign-sensors/blob/master/LICENSE) file.
+This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/ignitionrobotics/ign-sensors/blob/main/LICENSE) file.
diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml
index 35894894..527d4908 100644
--- a/bitbucket-pipelines.yml
+++ b/bitbucket-pipelines.yml
@@ -32,7 +32,7 @@ pipelines:
           # - apt install -y
           #   libxml2-utils
           #   libtinyxml-dev
-          # - git clone http://github.com/osrf/sdformat -b master
+          # - git clone http://github.com/osrf/sdformat
           # - cd sdformat
           # - mkdir build
           # - cd build
@@ -42,7 +42,7 @@ pipelines:
           # # Ignition msgs (uncomment if a specific branch is needed)
           # - apt install -y
           #   libprotobuf-dev protobuf-compiler libprotoc-dev
-          # - git clone http://github.com/ignitionrobotics/ign-msgs -b master
+          # - git clone http://github.com/ignitionrobotics/ign-msgs
           # - cd ign-msgs
           # - mkdir build
           # - cd build
@@ -52,7 +52,7 @@ pipelines:
           # # Ignition transport (uncomment if a specific branch is needed)
           # - apt install -y
           #   libzmq3-dev uuid-dev libsqlite3-dev
-          # - git clone http://github.com/ignitionrobotics/ign-transport -b master
+          # - git clone http://github.com/ignitionrobotics/ign-transport
           # - cd ign-transport
           # - mkdir build
           # - cd build