diff --git a/dependencies.rosinstall b/dependencies.rosinstall
index 5a376683..5010a96f 100644
--- a/dependencies.rosinstall
+++ b/dependencies.rosinstall
@@ -1,11 +1,11 @@
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.4.7
+    version: 0.5.3
 - git:
     local-name: tesseract
     uri: https://github.com/tesseract-robotics/tesseract.git
-    version: 0.18.1
+    version: 0.19.1
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt.git
@@ -13,19 +13,19 @@
 - git:
     local-name: tesseract_planning
     uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 0.18.4
+    version: 0.19.0
 - git:
     local-name: tesseract_qt
     uri: https://github.com/tesseract-robotics/tesseract_qt.git
-    version: 0.18.2
+    version: 0.19.0
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git
-    version: 0.3.1
+    version: 0.4.2
 - git:
     local-name: opw_kinematics
     uri: https://github.com/Jmeyer1292/opw_kinematics.git
-    version: 0.4.6
+    version: 0.5.0
 - git:
     local-name: ifopt
     uri: https://github.com/ethz-adrl/ifopt.git
diff --git a/dependencies_with_ext.rosinstall b/dependencies_with_ext.rosinstall
index 89ab384e..b9a42050 100644
--- a/dependencies_with_ext.rosinstall
+++ b/dependencies_with_ext.rosinstall
@@ -1,7 +1,7 @@
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.4.7
+    version: 0.5.3
 - git:
     local-name: tesseract_ext
     uri: https://github.com/tesseract-robotics/tesseract_ext.git
@@ -9,7 +9,7 @@
 - git:
     local-name: tesseract
     uri: https://github.com/tesseract-robotics/tesseract.git
-    version: 0.18.1
+    version: 0.19.1
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt_ros.git
@@ -17,19 +17,19 @@
 - git:
     local-name: tesseract_planning
     uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 0.18.0
+    version: 0.19.0
 - git:
     local-name: tesseract_qt
     uri: https://github.com/tesseract-robotics/tesseract_qt.git
-    version: 0.18.0
+    version: 0.19.0
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git
-    version: 0.3.1
+    version: 0.4.3
 - git:
     local-name: opw_kinematics
     uri: https://github.com/Jmeyer1292/opw_kinematics.git
-    version: 0.4.6
+    version: 0.5.0
 - git:
     local-name: ifopt
     uri: https://github.com/ethz-adrl/ifopt.git
diff --git a/tesseract_planning_server/CMakeLists.txt b/tesseract_planning_server/CMakeLists.txt
index 073bf855..e22aacee 100644
--- a/tesseract_planning_server/CMakeLists.txt
+++ b/tesseract_planning_server/CMakeLists.txt
@@ -16,8 +16,8 @@ find_package(catkin REQUIRED COMPONENTS
 find_package(Boost REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(tesseract_command_language REQUIRED)
-find_package(tesseract_motion_planners REQUIRED)
-find_package(tesseract_task_composer REQUIRED)
+find_package(tesseract_motion_planners REQUIRED COMPONENTS core simple OPTIONAL_COMPONENTS descartes ompl trajopt trajopt_ifopt)
+find_package(tesseract_task_composer REQUIRED COMPONENTS core planning)
 find_package(tesseract_common REQUIRED)
 
 catkin_package(
@@ -41,19 +41,38 @@ catkin_package(
 # Load variable for clang tidy args, compiler options and cxx version
 tesseract_variables()
 
-add_library(${PROJECT_NAME} SHARED
-  src/tesseract_planning_server.cpp)
-target_link_libraries(${PROJECT_NAME} PUBLIC
-    tesseract::tesseract_command_language
-    tesseract::tesseract_motion_planners_core
-    tesseract::tesseract_motion_planners_simple
-    tesseract::tesseract_motion_planners_trajopt
-    tesseract::tesseract_motion_planners_ompl
-    tesseract::tesseract_motion_planners_descartes
-    tesseract::tesseract_task_composer
-    tesseract::tesseract_task_composer_planning
-    ${catkin_LIBRARIES})
+set(LIB_COMPILE_DEFINITIONS ${TESSERACT_COMPILE_DEFINITIONS})
+set(LIB_SOURCE_LINK_LIBRARIES
+  tesseract::tesseract_command_language
+  tesseract::tesseract_motion_planners_core
+  tesseract::tesseract_motion_planners_simple
+  tesseract::tesseract_task_composer
+  tesseract::tesseract_task_composer_planning)
+
+if(tesseract_motion_planners_trajopt_FOUND)
+  list(APPEND LIB_SOURCE_LINK_LIBRARIES tesseract::tesseract_motion_planners_trajopt)
+  list(APPEND LIB_COMPILE_DEFINITIONS "-DTESSERACT_PLANNING_SERVER_HAS_TRAJOPT")
+endif()
+
+if(tesseract_motion_planners_trajopt_ifopt_FOUND)
+  list(APPEND LIB_SOURCE_LINK_LIBRARIES tesseract::tesseract_motion_planners_trajopt_ifopt)
+  list(APPEND LIB_COMPILE_DEFINITIONS "-DTESSERACT_PLANNING_SERVER_HAS_TRAJOPT_IFOPT")
+endif()
+
+if(tesseract_motion_planners_ompl_FOUND)
+  list(APPEND LIB_SOURCE_LINK_LIBRARIES tesseract::tesseract_motion_planners_ompl)
+  list(APPEND LIB_COMPILE_DEFINITIONS "-DTESSERACT_PLANNING_SERVER_HAS_OMPL")
+endif()
+
+if(tesseract_motion_planners_descartes_FOUND)
+  list(APPEND LIB_SOURCE_LINK_LIBRARIES tesseract::tesseract_motion_planners_descartes)
+  list(APPEND LIB_COMPILE_DEFINITIONS "-DTESSERACT_PLANNING_SERVER_HAS_DESCARTES")
+endif()
+
+add_library(${PROJECT_NAME} SHARED src/tesseract_planning_server.cpp)
+target_link_libraries(${PROJECT_NAME} PUBLIC ${LIB_SOURCE_LINK_LIBRARIES} ${catkin_LIBRARIES})
 target_compile_options(${PROJECT_NAME} PRIVATE ${TESSERACT_COMPILE_OPTIONS})
+target_compile_definitions(${PROJECT_NAME} PUBLIC ${LIB_COMPILE_DEFINITIONS})
 target_clang_tidy(${PROJECT_NAME} ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
 target_cxx_version(${PROJECT_NAME} PUBLIC VERSION 17)
 target_include_directories(${PROJECT_NAME} PUBLIC
diff --git a/tesseract_planning_server/src/tesseract_planning_server.cpp b/tesseract_planning_server/src/tesseract_planning_server.cpp
index 4c2982cd..a1fe1b71 100644
--- a/tesseract_planning_server/src/tesseract_planning_server.cpp
+++ b/tesseract_planning_server/src/tesseract_planning_server.cpp
@@ -33,24 +33,32 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_planning_server/tesseract_planning_server.h>
 #include <tesseract_task_composer/planning/planning_task_composer_problem.h>
 
+#ifdef TESSERACT_PLANNING_SERVER_HAS_DESCARTES
 #include <tesseract_motion_planners/descartes/profile/descartes_profile.h>
-#include <tesseract_motion_planners/trajopt/profile/trajopt_profile.h>
-#include <tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_profile.h>
-#include <tesseract_motion_planners/ompl/profile/ompl_profile.h>
-#include <tesseract_motion_planners/descartes/profile/descartes_profile.h>
-#include <tesseract_motion_planners/simple/profile/simple_planner_profile.h>
-
-#include <tesseract_motion_planners/simple/profile/simple_planner_lvs_no_ik_plan_profile.h>
-#include <tesseract_motion_planners/ompl/profile/ompl_default_plan_profile.h>
 #include <tesseract_motion_planners/descartes/profile/descartes_default_plan_profile.h>
+#endif
+
+#ifdef TESSERACT_PLANNING_SERVER_HAS_TRAJOPT
+#include <tesseract_motion_planners/trajopt/profile/trajopt_profile.h>
 #include <tesseract_motion_planners/trajopt/profile/trajopt_default_composite_profile.h>
 #include <tesseract_motion_planners/trajopt/profile/trajopt_default_plan_profile.h>
 #include <tesseract_motion_planners/trajopt/profile/trajopt_default_solver_profile.h>
-#ifdef TESSERACT_TASK_COMPOSER_HAS_TRAJOPT_IFOPT
+#endif
+
+#ifdef TESSERACT_PLANNING_SERVER_HAS_TRAJOPT_IFOPT
+#include <tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_profile.h>
 #include <tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_default_composite_profile.h>
 #include <tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_default_plan_profile.h>
 #endif
 
+#ifdef TESSERACT_PLANNING_SERVER_HAS_OMPL
+#include <tesseract_motion_planners/ompl/profile/ompl_profile.h>
+#include <tesseract_motion_planners/ompl/profile/ompl_default_plan_profile.h>
+#endif
+
+#include <tesseract_motion_planners/simple/profile/simple_planner_profile.h>
+#include <tesseract_motion_planners/simple/profile/simple_planner_lvs_no_ik_plan_profile.h>
+
 #include <tesseract_command_language/poly/instruction_poly.h>
 
 #include <tesseract_monitoring/environment_monitor.h>
@@ -276,7 +284,14 @@ void TesseractPlanningServer::onMotionPlanningCallback(const tesseract_msgs::Get
 
 void TesseractPlanningServer::loadDefaultPlannerProfiles()
 {
+  // Add Simple Default Profiles
+  profiles_->addProfile<tesseract_planning::SimplePlannerPlanProfile>(
+      SIMPLE_DEFAULT_NAMESPACE,
+      tesseract_planning::DEFAULT_PROFILE_KEY,
+      std::make_shared<tesseract_planning::SimplePlannerLVSNoIKPlanProfile>());
+
   // Add TrajOpt Default Profiles
+#ifdef TESSERACT_PLANNING_SERVER_HAS_TRAJOPT
   profiles_->addProfile<tesseract_planning::TrajOptPlanProfile>(
       TRAJOPT_DEFAULT_NAMESPACE,
       tesseract_planning::DEFAULT_PROFILE_KEY,
@@ -289,9 +304,10 @@ void TesseractPlanningServer::loadDefaultPlannerProfiles()
       TRAJOPT_DEFAULT_NAMESPACE,
       tesseract_planning::DEFAULT_PROFILE_KEY,
       std::make_shared<tesseract_planning::TrajOptDefaultSolverProfile>());
+#endif
 
   // Add TrajOpt IFOPT Default Profiles
-#ifdef TESSERACT_TASK_COMPOSER_HAS_TRAJOPT_IFOPT
+#ifdef TESSERACT_PLANNING_SERVER_HAS_TRAJOPT_IFOPT
   profiles_->addProfile<tesseract_planning::TrajOptIfoptPlanProfile>(
       TRAJOPT_IFOPT_DEFAULT_NAMESPACE,
       tesseract_planning::DEFAULT_PROFILE_KEY,
@@ -303,22 +319,20 @@ void TesseractPlanningServer::loadDefaultPlannerProfiles()
 #endif
 
   // Add Descartes Default Profiles
+#ifdef TESSERACT_PLANNING_SERVER_HAS_DESCARTES
   profiles_->addProfile<tesseract_planning::DescartesPlanProfile<double>>(
       DESCARTES_DEFAULT_NAMESPACE,
       tesseract_planning::DEFAULT_PROFILE_KEY,
       std::make_shared<tesseract_planning::DescartesDefaultPlanProfile<double>>());
+#endif
 
   // Add OMPL Default Profiles
+#ifdef TESSERACT_PLANNING_SERVER_HAS_OMPL
   profiles_->addProfile<tesseract_planning::OMPLPlanProfile>(
       OMPL_DEFAULT_NAMESPACE,
       tesseract_planning::DEFAULT_PROFILE_KEY,
       std::make_shared<tesseract_planning::OMPLDefaultPlanProfile>());
-
-  // Add Simple Default Profiles
-  profiles_->addProfile<tesseract_planning::SimplePlannerPlanProfile>(
-      SIMPLE_DEFAULT_NAMESPACE,
-      tesseract_planning::DEFAULT_PROFILE_KEY,
-      std::make_shared<tesseract_planning::SimplePlannerLVSNoIKPlanProfile>());
+#endif
 }
 
 Eigen::Isometry3d TesseractPlanningServer::tfFindTCPOffset(const tesseract_common::ManipulatorInfo& manip_info)
diff --git a/tesseract_rosutils/CMakeLists.txt b/tesseract_rosutils/CMakeLists.txt
index 7561f84b..9e4c0926 100644
--- a/tesseract_rosutils/CMakeLists.txt
+++ b/tesseract_rosutils/CMakeLists.txt
@@ -17,11 +17,11 @@ find_package(catkin REQUIRED COMPONENTS
 
 find_package(Boost REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(tesseract_collision REQUIRED)
+find_package(tesseract_collision REQUIRED COMPONENTS core)
 find_package(tesseract_common REQUIRED)
 find_package(tesseract_environment REQUIRED)
 find_package(tesseract_geometry REQUIRED) # This should not be required, must be doing something wrong when creating targets
-find_package(tesseract_motion_planners REQUIRED)
+find_package(tesseract_motion_planners REQUIRED COMPONENTS core)
 find_package(tesseract_scene_graph REQUIRED)
 find_package(tesseract_srdf REQUIRED)
 find_package(tesseract_visualization REQUIRED)
diff --git a/tesseract_rviz/CMakeLists.txt b/tesseract_rviz/CMakeLists.txt
index fb8f6389..c503c381 100644
--- a/tesseract_rviz/CMakeLists.txt
+++ b/tesseract_rviz/CMakeLists.txt
@@ -19,7 +19,6 @@ find_package(catkin REQUIRED COMPONENTS
 ## System dependencies are found with CMake's conventions
 find_package(Boost REQUIRED thread date_time system filesystem)
 find_package(tesseract_environment REQUIRED)
-find_package(tesseract_motion_planners REQUIRED)
 find_package(tesseract_common REQUIRED)
 find_package(tesseract_visualization REQUIRED)
 find_package(Eigen3 REQUIRED)
@@ -79,7 +78,6 @@ catkin_package(
     tesseract_environment
     tesseract_common
     tesseract_visualization
-    tesseract_motion_planners
 )
 
 # Load variable for clang tidy args, compiler options and cxx version