diff --git a/.github/workflows/build_test.yaml b/.github/workflows/build_test.yaml
index a8bf936..28e7754 100644
--- a/.github/workflows/build_test.yaml
+++ b/.github/workflows/build_test.yaml
@@ -2,9 +2,13 @@ name: BuildAndTest
 
 on:
   push:
+    branches:
+      - main
     paths-ignore:
       - '**.md'
   pull_request:
+    branches:
+      - main
     paths-ignore:
       - '**.md'
   schedule:
@@ -14,9 +18,11 @@ jobs:
   lint:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/setup-python@v2
+      - uses: actions/setup-python@v4
+        with:
+          python-version: '3.8'
       - run: pip install cpplint
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - run: .tools/cpplint.bash
 
   build_and_test:
@@ -45,7 +51,7 @@ jobs:
           sudo make install
       - name: Install dependencies
         run: sudo apt install libyaml-cpp-dev libeigen3-dev
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Build and insall library
         run: ./rt_manipulators_lib/build_install_library.bash
       - name: Build Samples