diff --git a/.github/workflows/build_and_test.yaml b/.github/workflows/build_and_test.yaml
new file mode 100644
index 0000000..fc2d72f
--- /dev/null
+++ b/.github/workflows/build_and_test.yaml
@@ -0,0 +1,68 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: Build and Test
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - ros2
+
+jobs:
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+          - ROS_DISTRO: foxy
+            ROS_REPO: main
+          - ROS_DISTRO: foxy
+            ROS_REPO: testing
+          - ROS_DISTRO: rolling
+            ROS_REPO: main
+          - ROS_DISTRO: rolling
+            ROS_REPO: testing
+    env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+
+    name: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      # The target directory cache doesn't include the source directory because
+      # that comes from the checkout.  See "prepare target_ws for cache" task below
+      - name: cache target_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ccache-${{ env.CACHE_PREFIX }}
+      - name: industrial_ci
+        uses: 'ros-industrial/industrial_ci@master'
+        env: ${{ matrix.env }}
+      - name: upload test artifacts (on failure)
+        uses: actions/upload-artifact@v2
+        if: failure()
+        with:
+          name: test-results
+          path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
+      - name: prepare target_ws for cache
+        if: ${{ always() && ! matrix.env.CCOV }}
+        run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/.github/workflows/format.yml b/.github/workflows/format.yaml
similarity index 93%
rename from .github/workflows/format.yml
rename to .github/workflows/format.yaml
index fa91702..4fcae08 100644
--- a/.github/workflows/format.yml
+++ b/.github/workflows/format.yaml
@@ -1,7 +1,7 @@
 # This is a format job. Pre-commit has a first-party GitHub action, so we use
 # that: https://github.com/pre-commit/action
 
-name: Format
+name: Formatting (pre-commit)
 
 on:
   workflow_dispatch:
diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
deleted file mode 100644
index 2cbfc65..0000000
--- a/.github/workflows/industrial_ci_action.yml
+++ /dev/null
@@ -1,33 +0,0 @@
-# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
-# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
-
-name: BuildAndTest
-
-on: [push, pull_request]
-
-jobs:
-  industrial_ci:
-    strategy:
-      matrix:
-        env:
-          - {ROS_DISTRO: foxy, ROS_REPO: main}
-          - {ROS_DISTRO: foxy, ROS_REPO: testing}
-    env:
-      CCACHE_DIR: /home/runner/.ccache
-      BASEDIR: .base
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-      - uses: actions/cache@v2
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}  
-          restore-keys: |
-            ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
-      - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{ matrix.env }}
-      - uses: actions/upload-artifact@v2
-        if: failure()
-        with:
-          name: test-results
-          path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index fee4c75..aec0679 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -19,13 +19,19 @@ repos:
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
+      - id: check-json
       - id: check-merge-conflict
       - id: check-symlinks
+      - id: check-toml
       - id: check-xml
       - id: check-yaml
       - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
       - id: end-of-file-fixer
       - id: mixed-line-ending
+      - id: pretty-format-json
+      - id: trailing-whitespace
 
   - repo: local
     hooks:
diff --git a/README.md b/README.md
index 0590193..d6574c0 100644
--- a/README.md
+++ b/README.md
@@ -2,5 +2,5 @@ Abstract interface for persisting ROS message data.  Implementations are loaded
 
 | Branch | CI Status |
 | ------ | --------- |
-| `ros2` | [![Format](https://github.com/ros-planning/warehouse_ros/actions/workflows/format.yml/badge.svg?branch=ros2)](https://github.com/ros-planning/warehouse_ros/actions/workflows/format.yml?branch=ros2) [![BuildAndTest](https://github.com/ros-planning/warehouse_ros/actions/workflows/industrial_ci_action.yml/badge.svg?branch=ros2)](https://github.com/ros-planning/warehouse_ros/actions/workflows/industrial_ci_action.yml?branch=ros2) |
-| `kinetic-devel` | [![Format](https://github.com/ros-planning/warehouse_ros/actions/workflows/format.yml/badge.svg?branch=kinetic-devel)](https://github.com/ros-planning/warehouse_ros/actions/workflows/format.yml?branch=kinetic-devel) [![BuildAndTest](https://github.com/ros-planning/warehouse_ros/actions/workflows/industrial_ci_action.yml/badge.svg?branch=kinetic-devel)](https://github.com/ros-planning/warehouse_ros/actions/workflows/industrial_ci_action.yml?branch=kinetic-devel) |
+| `ros2` | [![Formatting (pre-commit)](https://github.com/ros-planning/warehouse_ros/actions/workflows/format.yaml/badge.svg?branch=ros2)](https://github.com/ros-planning/warehouse_ros/actions/workflows/format.yaml?query=branch%3Aros2) [![Build and Test](https://github.com/ros-planning/warehouse_ros/actions/workflows/build_and_test.yaml/badge.svg?branch=ros2)](https://github.com/ros-planning/warehouse_ros/actions/workflows/build_and_test.yaml?query=branch%3Aros2) |
+| `kinetic-devel` | [![Formatting (pre-commit)](https://github.com/ros-planning/warehouse_ros/actions/workflows/format.yaml/badge.svg?branch=kinetic-devel)](https://github.com/ros-planning/warehouse_ros/actions/workflows/format.yaml?query=branch%3Akinetic-devel) [![Build and Test](https://github.com/ros-planning/warehouse_ros/actions/workflows/build_and_test.yaml/badge.svg?branch=kinetic-devel)](https://github.com/ros-planning/warehouse_ros/actions/workflows/build_and_test.yaml?query=branch%3Akinetic-devel) |