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Node.js 16 actions are deprecated. Please update the following actions to use Node.js 20: actions/checkout@v3, docker/setup-qemu-action@v2, cachix/cachix-action@v12, actions/cache@v2, ./.github/actions/nix-ros-build-action. For more information see: https://github.blog/changelog/2023-09-22-github-actions-transitioning-from-node-16-to-node-20/.

The following actions uses node12 which is deprecated and will be forced to run on node16: actions/cache@v2. For more info: https://github.blog/changelog/2023-06-13-github-actions-all-actions-will-run-on-node16-instead-of-node12-by-default/