diff --git a/.github/workflows/add_sources.sh b/.github/workflows/add_sources.sh
new file mode 100755
index 00000000000..06515efda6a
--- /dev/null
+++ b/.github/workflows/add_sources.sh
@@ -0,0 +1,4 @@
+#! /bin/bash
+apt install -y --no-install-recommends software-properties-common
+add-apt-repository -y ppa:ros-industrial/ppa
+apt update --qq
diff --git a/.github/workflows/code_quality.yml b/.github/workflows/code_quality.yml
index cc87df8ea15..623feabced3 100644
--- a/.github/workflows/code_quality.yml
+++ b/.github/workflows/code_quality.yml
@@ -20,12 +20,13 @@ jobs:
         include:
           - job_type: codecov
             env:
+              ADDITIONAL_DEBS: 'taskflow libompl-dev'
               TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CODE_COVERAGE=ON"
               AFTER_SCRIPT: ''cd $target_ws && export MAKEFLAGS=ccov-all:${MAKEFLAGS:-} && colcon build --packages-select tesseract_command_language tesseract_motion_planners tesseract_task_composer tesseract_time_parameterization
                              && bash <(curl -s https://codecov.io/bash) -t ff5e009a-3bc9-47ca-9755-6223c7f9aee1 -s $target_ws/build -f *all-merged.info'
           - job_type: clang-tidy
             env:
-              ADDITIONAL_DEBS: 'clang-tidy'
+              ADDITIONAL_DEBS: 'clang-tidy taskflow libompl-dev'
               AFTER_SCRIPT: ""
               NOT_TEST_BUILD: true
               TARGET_CMAKE_ARGS: "-DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON"
@@ -34,10 +35,10 @@ jobs:
       DOCKER_IMAGE: ${{ env.REGISTRY }}/tesseract-robotics/tesseract:focal-master
       UNDERLAY: /root/tesseract-robotics/tesseract_target_ws/install
       PREFIX: ${{ github.repository }}_
-      AFTER_INIT: ''
+      AFTER_INIT: './.github/workflows/add_sources.sh'
       UPSTREAM_WORKSPACE: 'dependencies.rosinstall'
       UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-      ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin"
+      ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin ompl taskflow"
 
     steps:
       - name: Checkout repository
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index 3765fdea738..51f9164667e 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -47,11 +47,12 @@ jobs:
       - name: Build workspace
         uses: 'marip8/industrial_ci@2f4c8ab919f0aafddd514e586325defabd2911ea'
         env:
+          ADDITIONAL_DEBS: 'taskflow libompl-dev'
           ROS_DISTRO: false
           DOCKER_IMAGE: ghcr.io/tesseract-robotics/tesseract:${{ matrix.distro }}-master
-          ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin"
+          ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin ompl taskflow"
           CCACHE_DIR: ${{ github.workspace }}/${{ matrix.distro }}/.ccache
-          AFTER_INIT: ''
+          AFTER_INIT: './.github/workflows/add_sources.sh'
           UPSTREAM_WORKSPACE: 'dependencies.rosinstall'
           DOWNSTREAM_WORKSPACE: 'github:tesseract-robotics/tesseract_ros#master github:tesseract-robotics/tesseract_python#master'
           UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index e2b6864524c..06be0c28672 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -85,15 +85,16 @@ jobs:
       - name: Build repository
         uses: 'marip8/industrial_ci@2f4c8ab919f0aafddd514e586325defabd2911ea'
         env:
+          ADDITIONAL_DEBS: 'taskflow libompl-dev'
           ROS_DISTRO: false
           DOCKER_IMAGE: ${{ env.REGISTRY }}/tesseract-robotics/tesseract:${{ matrix.distro }}-${{ env.TESSERACT_VERSION }}
           UNDERLAY: /root/tesseract-robotics/tesseract_target_ws/install
           CCACHE_DIR: ${{ github.workspace }}/${{ matrix.distro }}/.ccache
           PREFIX: ${{ github.repository }}_
-          AFTER_INIT: ''
+          AFTER_INIT: './.github/workflows/add_sources.sh'
           UPSTREAM_WORKSPACE: dependencies.rosinstall
           UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-          ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin"
+          ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin ompl taskflow"
           TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} -DTESSERACT_ENABLE_TESTING=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF"
           DOCKER_COMMIT: ${{ steps.meta.outputs.tags }}
 
diff --git a/.github/workflows/unstable_build.yml b/.github/workflows/unstable_build.yml
index 39fee62313f..0cab81d6962 100644
--- a/.github/workflows/unstable_build.yml
+++ b/.github/workflows/unstable_build.yml
@@ -58,14 +58,15 @@ jobs:
       - name: Build repository
         uses: 'marip8/industrial_ci@2f4c8ab919f0aafddd514e586325defabd2911ea'
         env:
+          ADDITIONAL_DEBS: 'taskflow libompl-dev'
           ROS_DISTRO: false
           DOCKER_IMAGE: ${{ env.REGISTRY }}/tesseract-robotics/tesseract:${{ matrix.distro }}-master
           CCACHE_DIR: ${{ github.workspace }}/${{ matrix.distro }}/.ccache
           UNDERLAY: /root/tesseract-robotics/tesseract_target_ws/install
           PREFIX: ${{ github.repository }}_
-          AFTER_INIT: ''
+          AFTER_INIT: './.github/workflows/add_sources.sh'
           UPSTREAM_WORKSPACE: dependencies.rosinstall
           UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-          ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin"
+          ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin ompl taskflow"
           TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON"
           BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source $BASEDIR/${PREFIX}target_ws/install/setup.bash"