(actions) migrate back actions/cache@v4 (moveit#2700)

Which now also supports save-always, but is maintained much better.
See pat-s/always-upload-cache#2

.github/workflows/ci.yaml

@@ -97,32 +97,35 @@ jobs:
  with:
  file: moveit2.repos
  - name: Cache upstream workspace
- uses: pat-s/always-upload-cache@v3.0.11
+ uses: actions/cache@v4
  with:
  path: ${{ env.BASEDIR }}/upstream_ws
  key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
  restore-keys: ${{ env.CACHE_PREFIX }}
+ save-always: true
  env:
  CACHE_PREFIX: ${{ steps.rosdistro_release_date.outputs.date }}-upstream_ws-${{ steps.repos_edit_timestamp.outputs.timestamp }}-${{ matrix.env.IMAGE }}-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }}
  # 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 workspace
  if: "!matrix.env.CCOV"
- uses: pat-s/always-upload-cache@v3.0.11
+ uses: actions/cache@v4
  with:
  path: ${{ env.BASEDIR }}/target_ws
  key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
  restore-keys: ${{ env.CACHE_PREFIX }}
+ save-always: true
  env:
  CACHE_PREFIX: target_ws${{ matrix.env.CCOV && '-ccov' || '' }}-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }}
  - name: Cache ccache
- uses: pat-s/always-upload-cache@v3.0.11
+ uses: actions/cache@v4
  with:
  path: ${{ env.CCACHE_DIR }}
  key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
  restore-keys: |
  ${{ env.CACHE_PREFIX }}-${{ github.sha }}
  ${{ env.CACHE_PREFIX }}
+ save-always: true
  env:
  CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}
  - name: Configure ccache

.github/workflows/sonar.yaml

@@ -71,21 +71,23 @@ jobs:
  with:
  file: moveit2.repos
  - name: Cache upstream workspace
- uses: pat-s/always-upload-cache@v3.0.11
+ uses: actions/cache@v4
  with:
  path: ${{ env.BASEDIR }}/upstream_ws
  key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
  restore-keys: ${{ env.CACHE_PREFIX }}
+ save-always: true
  env:
  CACHE_PREFIX: ${{ steps.rosdistro_release_date.outputs.date }}-upstream_ws-${{ steps.repos_edit_timestamp.outputs.timestamp }}-rolling-ci-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }}
  - name: Cache ccache
- uses: pat-s/always-upload-cache@v3.0.11
+ uses: actions/cache@v4
  with:
  path: ${{ env.CCACHE_DIR }}
  key: ccache-rolling-ci-ccov-${{ github.sha }}-${{ github.run_id }}
  restore-keys: |
  ccache-rolling-ci-ccov-${{ github.sha }}
  ccache-rolling-ci-ccov
+ save-always: true
  - name: Configure ccache
  run: |
  mkdir -p ${{ env.CCACHE_DIR }}