diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index df15e47..3a3fd35 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -114,6 +114,12 @@ jobs:
         if: matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
         with:
           files: ${{ env.BASEDIR }}/target_ws/coverage.info
+      - name: Upload coveralls report
+        uses: coverallsapp/github-action@master
+        if: matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          path-to-lcov: ${{ env.BASEDIR }}/target_ws/coverage.info
       - name: Prepare target_ws for cache
         if: always()
         run: |
diff --git a/.github/workflows/doxygen.yaml b/.github/workflows/doxygen.yaml
index f7143a2..157af00 100644
--- a/.github/workflows/doxygen.yaml
+++ b/.github/workflows/doxygen.yaml
@@ -14,6 +14,12 @@ jobs:
     env:
       ROS_DISTRO: rolling
       NOT_TEST_BUILD: true
+      UPSTREAM_WORKSPACE: upstream.repos
+      UPSTREAM_CMAKE_ARGS: >
+        -DCMAKE_BUILD_TYPE=Release
+        -DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld
+        -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld
+        -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld
       # Clear the ccache stats before and log the stats after the build
       AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G
       AFTER_BUILD_TARGET_WORKSPACE: ccache --show-stats
@@ -24,11 +30,20 @@ jobs:
         colcon build --event-handlers console_direct+ desktop_notification- status- terminal_title- --cmake-args -DENABLE_DOXYGEN=ON --cmake-target doxygen-docs
       CCACHE_DIR: ${{ github.workspace }}/.ccache
       BASEDIR: ${{ github.workspace }}/.work
-      ADDITIONAL_DEBS: doxygen graphviz
+      ADDITIONAL_DEBS: doxygen graphviz lld
 
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
+
+      - name: Cache upstream workspace
+        uses: pat-s/always-upload-cache@v2.1.5
+        with:
+          path: ${{ env.BASEDIR }}/upstream_ws
+          key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
+          restore-keys: ${{ env.CACHE_PREFIX }}
+        env:
+          CACHE_PREFIX: upstream_ws-doxygen-${{ hashFiles('upatream.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
diff --git a/.github/workflows/prerelease.yaml b/.github/workflows/prerelease.yaml
index 26d9b06..fe6e9ed 100644
--- a/.github/workflows/prerelease.yaml
+++ b/.github/workflows/prerelease.yaml
@@ -5,9 +5,10 @@ name: pre-release
 
 on:
   workflow_dispatch:
-  push:
-    branches:
-      - ros2
+  # TODO(tylerjw): re-enable this once moveit release is fixed
+  # push:
+  #   branches:
+  #     - ros2
 
 jobs:
   default:
diff --git a/README.md b/README.md
index efae452..9b9a6a3 100644
--- a/README.md
+++ b/README.md
@@ -3,7 +3,8 @@
 [![CI](https://github.com/tylerjw/bio_ik/actions/workflows/ci.yaml/badge.svg?branch=ros2)](https://github.com/tylerjw/bio_ik/actions/workflows/ci.yaml?query=branch%3Aros2)
 [![Pre-release](https://github.com/tylerjw/bio_ik/actions/workflows/prerelease.yaml/badge.svg?branch=ros2)](https://github.com/tylerjw/bio_ik/actions/workflows/prerelease.yaml?query=branch%3Aros2)
 [![Doxygen](https://github.com/tylerjw/bio_ik/actions/workflows/doxygen.yaml/badge.svg?branch=ros2)](https://github.com/tylerjw/bio_ik/actions/workflows/doxygen.yaml?query=branch%3Aros2)
-[![Code Coverage](https://codecov.io/gh/tylerjw/bio_ik/branch/ros2/graph/badge.svg?token=W7uHKcY0ly)](https://codecov.io/gh/tylerjw/arm_teleop)
+[![Code Coverage](https://codecov.io/gh/tylerjw/bio_ik/branch/ros2/graph/badge.svg?token=W7uHKcY0ly)](https://codecov.io/gh/tylerjw/bio_ik)
+[![Coverage Status](https://coveralls.io/repos/github/tylerjw/bio_ik/badge.svg?branch=ros2)](https://coveralls.io/github/tylerjw/bio_ik?branch=ros2)
 
 ## Disclaimer