Update to vcpkg-action@v6 and use vcpkg-binarycache (#434)

.github/workflows/mac.yml

@@ -19,7 +19,7 @@ on:
 env:
   VCPKG_PKGS: >- 
     boost-dll boost-program-options
-    boost-serialization boost-filesystem
+    boost-serialization boost-filesystem boost-format
     tinyxml2 console-bridge assimp
     urdfdom octomap orocos-kdl pcl
     gtest benchmark flann jsoncpp
@@ -44,7 +44,7 @@ jobs:
       run: |
         brew install libomp cmake automake autoconf libtool gcc ninja
     - name: vcpkg build
-      uses: johnwason/vcpkg-action@v5
+      uses: johnwason/vcpkg-action@v6
       with:
         pkgs: >-
           ${{ env.VCPKG_PKGS }}
@@ -53,6 +53,7 @@ jobs:
         token: ${{ github.token }}
         cache-key: osx-x64-vcpkg
         revision: master
+        github-binarycache: true
     - name: pip3
       run: |
         python3 -m pip install numpy setuptools wheel pytest delvewheel colcon-common-extensions vcstool

.github/workflows/windows.yml

@@ -27,19 +27,19 @@ jobs:
         path: target_ws/src
 
     - name: vcpkg build
-      uses: johnwason/vcpkg-action@v4
+      uses: johnwason/vcpkg-action@v6
       with:
         pkgs: >-
           fcl bullet3[multithreading,double-precision,rtti] octomap
           console-bridge eigen3 yaml-cpp benchmark tinyxml2 assimp orocos-kdl pcl
-          lapack-reference boost-dll boost-filesystem boost-serialization
+          lapack-reference boost-dll boost-filesystem boost-serialization boost-format
           boost-program-options boost-graph urdfdom ccd[double-precision] gtest
           ompl taskflow jsoncpp flann benchmark
         triplet: x64-windows-release
         extra-args: --clean-after-build
         token: ${{ github.token }}
         cache-key: ci-${{ matrix.os }}
-        revision: 2023.08.09
+        github-binarycache: true
 
     - name: configure-msvc
       uses: ilammy/msvc-dev-cmd@v1