diff --git a/.github/workflows/update-pre-commit.yml b/.github/workflows/update-pre-commit.yml
new file mode 100644
index 000000000..f18fd6238
--- /dev/null
+++ b/.github/workflows/update-pre-commit.yml
@@ -0,0 +1,42 @@
+name: Update pre-commit
+
+on:
+  schedule:
+    - cron: "0 19 * * *" # run at 4 AM JST
+  workflow_dispatch:
+
+jobs:
+  update-pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Generate token
+        uses: tibdex/github-app-token@v1
+        id: generate-token
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.APP_PRIVATE_KEY }}
+
+      - name: Setup Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+
+      - name: Install pre-commit
+        run: pip install pre-commit
+
+      - name: Run pre-commit autoupdate
+        run: pre-commit autoupdate
+
+      - name: Create Pull Request
+        uses: peter-evans/create-pull-request@v3
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base: main
+          branch: update/pre-commit-autoupdate
+          title: Auto-update pre-commit hooks
+          commit-message: Auto-update pre-commit hooks
+          body: |
+            Update versions of tools in pre-commit configs to latest version
+          labels: dependencies
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 5b8232fe2..3902e171d 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -34,24 +34,24 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.27.1
+    rev: v0.28.1
     hooks:
       - id: markdownlint
         args: ["-c", ".markdownlint.yaml", "--fix"]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v2.3.2
+    rev: v2.4.1
     hooks:
       - id: prettier
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
-    rev: v0.1.2
+    rev: v0.2.0
     hooks:
-      - id: prettier-xml
+      - id: prettier-package-xml
       - id: sort-package-xml
 
   - repo: https://github.com/gruntwork-io/pre-commit
-    rev: v0.1.12
+    rev: v0.1.15
     hooks:
       - id: shellcheck