diff --git a/.github/workflows/ros2-humble.yaml b/.github/workflows/ros2-humble.yaml
index 1ffb8fcff..e4e6f592a 100644
--- a/.github/workflows/ros2-humble.yaml
+++ b/.github/workflows/ros2-humble.yaml
@@ -19,9 +19,10 @@ jobs:
             ~/.ros
             /tmp/rosdep
             /opt/ros/humble
-          key: ${{ runner.os }}-ros2-${{ hashFiles('**/package.xml') }}
+          key: ${{ runner.os }}-ros2-humble-${{ hashFiles('**/package.xml') }}-rosdep
           restore-keys: |
-            ${{ runner.os }}-ros2-
+            ${{ runner.os }}-ros2-humble-${{ hashFiles('**/package.xml') }}-
+            ${{ runner.os }}-ros2-humble-
 
       # Step 3: Run ROS CI
       - uses: ros-tooling/action-ros-ci@v0.3
diff --git a/.github/workflows/ros2-rolling.yaml b/.github/workflows/ros2-rolling.yaml
index 13cd7dad7..80faf6aef 100644
--- a/.github/workflows/ros2-rolling.yaml
+++ b/.github/workflows/ros2-rolling.yaml
@@ -19,9 +19,10 @@ jobs:
             ~/.ros
             /tmp/rosdep
             /opt/ros/rolling
-          key: ${{ runner.os }}-ros2-${{ hashFiles('**/package.xml') }}
+          key: ${{ runner.os }}-ros2-rolling-${{ hashFiles('**/package.xml') }}-rosdep
           restore-keys: |
-            ${{ runner.os }}-ros2-
+              ${{ runner.os }}-ros2-rolling-${{ hashFiles('**/package.xml') }}-
+              ${{ runner.os }}-ros2-rolling-
 
       # Step 3: Run ROS CI
       - uses: ros-tooling/action-ros-ci@v0.3
diff --git a/3rdparty/CMakeLists.txt b/3rdparty/CMakeLists.txt
index 2a0888860..50faecaff 100644
--- a/3rdparty/CMakeLists.txt
+++ b/3rdparty/CMakeLists.txt
@@ -20,7 +20,11 @@ CPMAddPackage(
     GIT_TAG v1.5.6
     DOWNLOAD_ONLY YES
 )
-file(GLOB ZSTD_SOURCES ${zstd_SOURCE_DIR}/lib/*.c)
+file(GLOB ZSTD_SOURCES_COMMON ${zstd_SOURCE_DIR}/lib/common/*.c)
+file(GLOB ZSTD_SOURCES_COMPRESS ${zstd_SOURCE_DIR}/lib/compress/*.c)
+file(GLOB ZSTD_SOURCES_DECOMPRESS ${zstd_SOURCE_DIR}/lib/decompress/*.c)
+file(GLOB ZSTD_SOURCES_DICTBUILDER ${zstd_SOURCE_DIR}/lib/dictBuilder/*.c)
+list(APPEND ZSTD_SOURCES ${ZSTD_SOURCES_COMMON} ${ZSTD_SOURCES_COMPRESS} ${ZSTD_SOURCES_DECOMPRESS} ${ZSTD_SOURCES_DICTBUILDER})
 add_library(zstd_static STATIC ${ZSTD_SOURCES})
 target_include_directories(zstd_static PUBLIC ${zstd_SOURCE_DIR}/lib)