diff --git a/.github/workflows/ros2-ci.yml b/.github/workflows/ros2-ci.yml
index e06727b6..1732131e 100644
--- a/.github/workflows/ros2-ci.yml
+++ b/.github/workflows/ros2-ci.yml
@@ -10,25 +10,26 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - docker-image: "ubuntu:24.04"
+          - docker-image: "ubuntu:22.04"
             gz-version: "garden"
             ros-distro: "rolling"
-          - docker-image: "ubuntu:24.04"
+          - docker-image: "ubuntu:22.04"
             gz-version: "harmonic"
             ros-distro: "rolling"
     container:
       image: ${{ matrix.docker-image }}
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
       - name: Build and Test
         run: .github/workflows/build-and-test.sh
         env:
           DOCKER_IMAGE: ${{ matrix.docker-image }}
           GZ_VERSION: ${{ matrix.gz-version  }}
           ROS_DISTRO: ${{ matrix.ros-distro }}
+          ROSDISTRO_INDEX_URL: https://raw.githubusercontent.com/ros/rosdistro/rolling/2024-02-28/index-v4.yaml # Temporarily pin rosdep to fix rolling on Jammy
       - name: Build sdformat_urdf from source
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
         if: ${{ matrix.gz-version  }} == "garden"
         with:
           repository: ros/sdformat_urdf