diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index f6d67a1..dffad17 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -5,9 +5,6 @@ on:
     branches: [ master, dev ]
   pull_request:
     branches: [ master, dev ]
-  schedule:
-    # Run once per day to detect broken dependencies.
-    - cron: '17 6 * * *'
 
 jobs:
   build:
@@ -15,20 +12,20 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ ubuntu-20.04 ]
+        os: [ ubuntu-20.04, macos-latest, windows-latest ]
         ros_distribution: [ foxy, rolling ]
     steps:
     - uses: actions/checkout@v2
-    - uses: ros-tooling/setup-ros@0.0.26
+    - uses: ros-tooling/setup-ros@0.1.2
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
-    - uses : ros-tooling/action-ros-ci@0.1.0
+    - uses : ros-tooling/action-ros-ci@0.1.1
       with:
         package-name: "system_modes system_modes_examples"
         target-ros2-distro: ${{ matrix.ros_distribution }}
         vcs-repo-file-url: ""
         colcon-mixin-name: coverage-gcc
         colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-    - uses: codecov/codecov-action@v1
+    - uses: codecov/codecov-action@v1.2.1
       with:
         file: ros_ws/lcov/total_coverage.info
diff --git a/system_modes/changelog.rst b/system_modes/changelog.rst
index 3c6443a..9ed664a 100644
--- a/system_modes/changelog.rst
+++ b/system_modes/changelog.rst
@@ -24,6 +24,12 @@ Changelog for package system_modes_examples
 * publish inferred state and mode transitions
 * https://github.com/micro-ROS/system_modes/issues/42
 
+0.4.0 (2020-09-30)
+-----------
+* mode event now including start and goal mode
+* publish inferred state and mode transitions
+* https://github.com/micro-ROS/system_modes/issues/42
+
 0.3.0 (2020-07-23)
 -----------
 * removed boost dependencies (was: program options)