diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 89c4a80223..9d6e0edbeb 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -34,15 +34,7 @@ jobs:
     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
-        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:
@@ -51,6 +43,7 @@ jobs:
           restore-keys: |
             ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
             ccache-${{ env.CACHE_PREFIX }}
+
       - name: Login to DockerHub
         uses: docker/login-action@v1
         with:
@@ -71,14 +64,10 @@ jobs:
         if: ${{ always() && env.DOCKER_COMMIT }}
         run: |
           docker push ${{ env.DOCKER_COMMIT }} || true
+
       - 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: |
-          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
-          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src