diff --git a/.gitmodules b/.gitmodules
index 43c03fd..fe15800 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -32,15 +32,12 @@
 [submodule "src/external/mujoco_ros2_control"]
 	path = src/external/mujoco_ros2_control
 	url = https://github.com/ros-controls/mujoco_ros2_control.git
-[submodule "external/roboplan-ros"]
-	path = src/external/roboplan-ros
-	url = https://github.com/open-planning/roboplan-ros.git
 [submodule "src/external/imetro_behavior"]
 	path = src/external/imetro_behavior
 	url = https://github.com/NASA-JSC-Robotics/imetro_behavior.git
 [submodule "src/external/color_tools"]
 	path = src/external/color_tools
 	url = https://github.com/NASA-JSC-Robotics/color_tools.git
-[submodule "src/external/roboplan"]
-	path = src/external/roboplan
-	url = https://github.com/open-planning/roboplan.git
+[submodule "src/external/roboplan-ros"]
+	path = src/external/roboplan-ros
+	url = https://github.com/open-planning/roboplan-ros.git
diff --git a/Dockerfile b/Dockerfile
index 7c1cd23..c41f31d 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -145,6 +145,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 COPY --chown=${USERNAME}:${USERNAME} src/ src/
 
 # Setup colcon default mixins and add default settings
+RUN touch /home/${USERNAME}/.netrc
 RUN colcon mixin add default \
     https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
     colcon mixin update || true
diff --git a/config/colcon-defaults.yaml b/config/colcon-defaults.yaml
index b540935..7ab8ebd 100644
--- a/config/colcon-defaults.yaml
+++ b/config/colcon-defaults.yaml
@@ -5,8 +5,6 @@ build:
     - build-testing-on
     - ccache
     - compile-commands
-  packages-ignore:
-    - btcpp_ros2_samples
 test:
   event-handlers:
     - console_direct+
diff --git a/pixi.lock b/pixi.lock
index 29330ab..928c99b 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -1,19 +1,7 @@
 version: 7
 platforms:
-- name: p1
-  subdir: linux-aarch64
-  virtual-packages:
-  - __glibc=2.35
-  - __unix=0=0
-  - __linux=4.18
-  - __archspec=0=aarch64
-- name: p2
-  subdir: linux-64
-  virtual-packages:
-  - __glibc=2.35
-  - __unix=0=0
-  - __linux=4.18
-  - __archspec=0=x86_64
+- name: linux-64
+- name: linux-aarch64
 environments:
   default:
     channels:
@@ -22,1062 +10,7 @@ environments:
     indexes:
     - https://pypi.org/simple
     packages:
-      p1:
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/_openmp_mutex-4.5-20_gnu.conda
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/alsa-lib-1.2.16.1-h5bc82ec_1.conda
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/ampl-asl-1.0.0-h5ad3122_2.conda
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/aom-3.14.1-pl5321hf5316b6_2.conda
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/assimp-6.0.5-h5ad0a65_1.conda
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/at-spi2-atk-2.38.0-h1f2db35_3.tar.bz2
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/at-spi2-core-2.40.3-h1f2db35_0.tar.bz2
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/atk-1.0-2.38.0-hedc4a1f_2.conda
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/aws-c-auth-0.10.4-h31aafc4_2.conda
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/aws-c-cal-0.9.15-he0a0ff2_1.conda
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/aws-c-common-0.14.3-he30d5cf_0.conda
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/aws-c-compression-0.3.2-hbc11874_5.conda
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/aws-c-http-0.11.0-h299f1a2_5.conda
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/aws-c-io-0.27.5-hd6bac6b_1.conda
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/aws-c-s3-0.13.1-he888730_1.conda
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/aws-c-sdkutils-0.2.7-hbc11874_3.conda
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/aws-checksums-0.2.10-hbc11874_5.conda
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-      - conda: https://prefix.dev/conda-forge/linux-aarch64/binutils-2.46.1-default_hf1166c9_102.conda
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/binutils_impl_linux-aarch64-2.46.1-default_h5f4c503_102.conda
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/binutils_linux-aarch64-2.46.1-default_hf1166c9_102.conda
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-      - conda: https://prefix.dev/conda-forge/linux-aarch64/c-compiler-1.11.0-hdceaead_0.conda
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+  license_family: APACHE
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   - libllvm23 >=23.1.1,<23.2.0a0
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+  - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
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   - python_abi 3.12.* *_cp312
   - unicodedata2 >=15.1.0
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-  - python_abi 3.12.* *_cp312
+  - libgcc >=15
+  - libstdcxx >=15
+  - libgz-math7 >=7.7.0,<8.0a0
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+  timestamp: 1789052119126
 - conda: https://prefix.dev/conda-forge/linux-aarch64/ld_impl_linux-aarch64-2.46.1-default_h1979696_102.conda
   sha256: 2c4901f4227b0850328ed0c69f958b30ad2cd18982f7a31c7c1f911827004d08
   md5: 489444d0acb2a579d2a002d85a08c059
@@ -11208,18 +11483,18 @@ packages:
     - libavif16 >=1.4.2,<2.0a0
   size: 173420
   timestamp: 1788391270705
-- conda: https://prefix.dev/conda-forge/linux-aarch64/libblas-3.11.0-10_h1797440_nvpl.conda
-  build_number: 10
-  sha256: 55403111713bf8f5ed50f0b2e02fb5c319e15341219b1b3ede17bf90426ff03a
-  md5: 1b7a46d940a015f1bb58ae3c4a28d4c2
+- conda: https://prefix.dev/conda-forge/linux-aarch64/libblas-3.11.0-11_h1797440_nvpl.conda
+  build_number: 11
+  sha256: 72c036b5b24b270f15deddfd312ee3bd50bce2f1f1a4e908d16763eeac649030
+  md5: c8bef2a08696156300cb361cf169fde7
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   - libnvpl-blas0 >=0.5.0.1,<0.5.1.0a0
   - libnvpl-blas0 >=0.5.0.1,<1.0a0
   constrains:
-  - blas 2.310   nvpl
-  - libcblas   3.11.0   10*_nvpl
-  - liblapack  3.11.0   10*_nvpl
-  - liblapacke 3.11.0   10*_nvpl
+  - blas 2.311   nvpl
+  - libcblas   3.11.0   11*_nvpl
+  - liblapack  3.11.0   11*_nvpl
+  - liblapacke 3.11.0   11*_nvpl
   - mkl <2027
   track_features:
   - blas_nvpl
@@ -11230,8 +11505,8 @@ packages:
   run_exports:
     weak:
     - libblas >=3.11.0,<4.0a0
-  size: 18203
-  timestamp: 1788076941785
+  size: 18170
+  timestamp: 1789060976836
 - conda: https://prefix.dev/conda-forge/linux-aarch64/libblasfeo-0.1.4.3-h1dbf749_100.conda
   sha256: f58ea9e4b032564e6bd2ceba20652da09573a2f183c66c572f23e8404cbe799f
   md5: 1ceaafdc5c5e61ef82738875e101c2fc
@@ -11370,16 +11645,16 @@ packages:
     - libcap >=2.78,<2.79.0a0
   size: 108530
   timestamp: 1786025925536
-- conda: https://prefix.dev/conda-forge/linux-aarch64/libcblas-3.11.0-10_h882ec00_nvpl.conda
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-  md5: 6050a5ffdcba359fbf0dcb182f5e5f76
+- conda: https://prefix.dev/conda-forge/linux-aarch64/libcblas-3.11.0-11_h882ec00_nvpl.conda
+  build_number: 11
+  sha256: a61256cedede6c16744223be56097f9b8e040ebdf5c7b6452a29b4b0e48ea1aa
+  md5: f560901a869b88ec2346abc77c4deb10
   depends:
-  - libblas 3.11.0 10_h1797440_nvpl
+  - libblas 3.11.0 11_h1797440_nvpl
   constrains:
-  - blas 2.310   nvpl
-  - liblapack  3.11.0   10*_nvpl
-  - liblapacke 3.11.0   10*_nvpl
+  - blas 2.311   nvpl
+  - liblapack  3.11.0   11*_nvpl
+  - liblapacke 3.11.0   11*_nvpl
   track_features:
   - blas_nvpl
   license: BSD-3-Clause
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   run_exports:
     weak:
     - libcblas >=3.11.0,<4.0a0
-  size: 18129
-  timestamp: 1788076947150
+  size: 18154
+  timestamp: 1789060981734
 - conda: https://prefix.dev/conda-forge/linux-aarch64/libccd-double-2.1-h2f0025b_3.conda
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   md5: 3898f9a528720cc10e8c62e08e1a11ea
@@ -11437,6 +11712,7 @@ packages:
   - libxml2-16 >=2.15.4
   - libllvm23 >=23.1.1,<23.2.0a0
   license: Apache-2.0 WITH LLVM-exception
+  license_family: APACHE
   purls: []
   run_exports:
     weak:
@@ -11456,6 +11732,7 @@ packages:
   - libxml2-16 >=2.15.4
   - libllvm23 >=23.1.1,<23.2.0a0
   license: Apache-2.0 WITH LLVM-exception
+  license_family: APACHE
   purls: []
   run_exports:
     weak:
@@ -11544,11 +11821,11 @@ packages:
     - libdeflate >=1.25,<1.26.0a0
   size: 71628
   timestamp: 1785908730449
-- conda: https://prefix.dev/conda-forge/linux-aarch64/libdovi-3.4.0-hf71c8f5_0.conda
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-  md5: 318831d864fbd3a513d71bb0db5ff9e6
+- conda: https://prefix.dev/conda-forge/linux-aarch64/libdovi-3.4.0-h4cb7313_0.conda
+  sha256: de32021ce3b0cb641be6b422918a0b07009e4afbda642dfcd261311fd75cf46b
+  md5: 6cb81267b08346b2fc50ffa75b8ae09c
   depends:
-  - libgcc >=14
+  - libgcc >=15
   constrains:
   - __glibc >=2.17
   license: MIT
@@ -11557,8 +11834,8 @@ packages:
   run_exports:
     weak:
     - libdovi >=3.4.0,<4.0a0
-  size: 408693
-  timestamp: 1784281571706
+  size: 401018
+  timestamp: 1789024243071
 - conda: https://prefix.dev/conda-forge/linux-aarch64/libdrm-2.4.129-h5bc82ec_0.conda
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   md5: 3f34f401fa04c0ad38ff15b046c20596
@@ -11848,15 +12125,15 @@ packages:
     - libgl >=1.7.0,<2.0a0
   size: 116134
   timestamp: 1787310023915
-- conda: https://prefix.dev/conda-forge/linux-aarch64/libglib-2.88.3-hb514e8e_3.conda
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-  md5: 18837ca7480048a942c7404a36883b08
+- conda: https://prefix.dev/conda-forge/linux-aarch64/libglib-2.88.3-h3584fe5_4.conda
+  sha256: c07d69ab404af78ba060dad08df460f2bb038f5763fade793d43f362657cd1a1
+  md5: 7d51bc62ed62cda4783c7693d96f519b
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-  - libzlib >=1.3.2,<2.0a0
   - libffi >=3.7.0,<3.8.0a0
-  - libiconv >=1.18,<2.0a0
   - pcre2 >=10.47,<10.48.0a0
+  - libzlib >=1.3.2,<2.0a0
+  - libiconv >=1.18,<2.0a0
   constrains:
   - glib >2.66
   license: LGPL-2.1-or-later
@@ -11864,8 +12141,8 @@ packages:
   run_exports:
     weak:
     - libglib >=2.88.3,<3.0a0
-  size: 4830492
-  timestamp: 1788525192222
+  size: 4830368
+  timestamp: 1789008637335
 - conda: https://prefix.dev/conda-forge/linux-aarch64/libglu-9.0.3-h5ad3122_1.conda
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   md5: 4d836b60421894bf9a6c77c8ca36782c
@@ -11968,9 +12245,9 @@ packages:
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   size: 218998
   timestamp: 1759138590699
-- conda: https://prefix.dev/conda-forge/linux-aarch64/libgz-math-9.3.0-h58f8fa6_0.conda
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-  md5: f84a04d1af25bf7fa42a79cfe81520e2
+- conda: https://prefix.dev/conda-forge/linux-aarch64/libgz-math-9.3.0-h7ab84b1_1.conda
+  sha256: 647fdf5aee3a5847f225ebc1ab5337570dac6bc2bb2e3500224a73a2bdf907e0
+  md5: bb1f744fc2e8db9937745a193e258326
   depends:
   - eigen
   - libstdcxx >=15
@@ -11983,16 +12260,15 @@ packages:
   run_exports:
     weak:
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-  size: 316292
-  timestamp: 1787748832914
-- conda: https://prefix.dev/conda-forge/linux-aarch64/libgz-math7-7.5.2-h7ac5ae9_2.conda
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-  md5: 28c93f57cc4ff3228423a6e321831424
+  size: 315804
+  timestamp: 1788523233530
+- conda: https://prefix.dev/conda-forge/linux-aarch64/libgz-math7-7.7.0-hfb11796_0.conda
+  sha256: 405a68005dce0f8609328c4398debdb3b083ef97269dbe8830bb02a6f2b7888f
+  md5: 5b9ed5cc19d6fb5cadadd80a1de1e9a2
   depends:
   - eigen
-  - libgcc >=14
-  - libstdcxx >=14
-  - libgcc >=14
+  - libgcc >=15
+  - libstdcxx >=15
   - libgz-cmake4 >=4.2.0,<5.0a0
   - libgz-utils2 >=2.2.1,<3.0a0
   license: Apache-2.0
@@ -12000,9 +12276,9 @@ packages:
   purls: []
   run_exports:
     weak:
-    - libgz-math7 >=7.5.2,<8.0a0
-  size: 297443
-  timestamp: 1759147772705
+    - libgz-math7 >=7.7.0,<8.0a0
+  size: 309013
+  timestamp: 1788526081715
 - conda: https://prefix.dev/conda-forge/linux-aarch64/libgz-tools-2.0.3-h7ac5ae9_1.conda
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   md5: 8d0f6a249b5369a44cb9d21d7b267124
@@ -12183,18 +12459,18 @@ packages:
     - libjxl >=0.12.0,<0.13.0a0
   size: 2171868
   timestamp: 1786691386840
-- conda: https://prefix.dev/conda-forge/linux-aarch64/liblapack-3.11.0-10_hdce3f5c_nvpl.conda
-  build_number: 10
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-  md5: d8cb52285d7acbcd267aea7aec8e23b8
+- conda: https://prefix.dev/conda-forge/linux-aarch64/liblapack-3.11.0-11_hdce3f5c_nvpl.conda
+  build_number: 11
+  sha256: 08be8360afd477bd764ae7201a88105ed9886c82671ee39e41fcea75b52ca50b
+  md5: e37888331c640a4ab34d16363de30b1b
   depends:
-  - libblas 3.11.0 10_h1797440_nvpl
+  - libblas 3.11.0 11_h1797440_nvpl
   - libnvpl-lapack0 >=0.3.2,<0.3.3.0a0
   - libnvpl-lapack0 >=0.3.2,<1.0a0
   constrains:
-  - blas 2.310   nvpl
-  - libcblas   3.11.0   10*_nvpl
-  - liblapacke 3.11.0   10*_nvpl
+  - blas 2.311   nvpl
+  - libcblas   3.11.0   11*_nvpl
+  - liblapacke 3.11.0   11*_nvpl
   track_features:
   - blas_nvpl
   license: BSD-3-Clause
@@ -12203,18 +12479,18 @@ packages:
   run_exports:
     weak:
     - liblapack >=3.11.0,<3.12.0a0
-  size: 18229
-  timestamp: 1788076951682
-- conda: https://prefix.dev/conda-forge/linux-aarch64/liblapacke-3.11.0-10_hd74115c_nvpl.conda
-  build_number: 10
-  sha256: ab8666557b7d8bf23dee0cd0a3cffe58052092edb805cae328cd42d1bd0f3e3f
-  md5: 494a221c8e50db67bc110380ade0965d
-  depends:
-  - libblas 3.11.0 10_h1797440_nvpl
-  - libcblas 3.11.0 10_h882ec00_nvpl
-  - liblapack 3.11.0 10_hdce3f5c_nvpl
+  size: 18219
+  timestamp: 1789060985903
+- conda: https://prefix.dev/conda-forge/linux-aarch64/liblapacke-3.11.0-11_hd74115c_nvpl.conda
+  build_number: 11
+  sha256: c4af2eae5c117e33c1a95ceab8aea52558eedfb712982790dd1a9384816fe1dc
+  md5: b341c967b5591b0b7ce163da5e6f7428
+  depends:
+  - libblas 3.11.0 11_h1797440_nvpl
+  - libcblas 3.11.0 11_h882ec00_nvpl
+  - liblapack 3.11.0 11_hdce3f5c_nvpl
   constrains:
-  - blas 2.310   nvpl
+  - blas 2.311   nvpl
   track_features:
   - blas_nvpl
   license: BSD-3-Clause
@@ -12223,8 +12499,8 @@ packages:
   run_exports:
     weak:
     - liblapacke >=3.11.0,<3.12.0a0
-  size: 18163
-  timestamp: 1788076957061
+  size: 18162
+  timestamp: 1789060990736
 - conda: https://prefix.dev/conda-forge/linux-aarch64/libllvm22-22.1.8-h680871c_2.conda
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   md5: cd1c48dd58efd115bd3fcc1e2fed8e68
@@ -12374,23 +12650,22 @@ packages:
     - libnvpl-lapack0 >=0.3.2,<1.0a0
   size: 9708249
   timestamp: 1764118848688
-- conda: https://prefix.dev/conda-forge/linux-aarch64/libode-0.16.6-py312h4eed292_0.conda
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-  md5: aaf86835e0bf2f2bfab4b6fd0e882751
+- conda: https://prefix.dev/conda-forge/linux-aarch64/libode-0.16.6-ha2da789_2.conda
+  sha256: c289435b0c56a4cfe64755b017c221c3e7c8b6ad2e604dc52d3c9a4daf7a16de
+  md5: f0c24fb9cdd0421409fd9bc1a88fb31c
   depends:
   - libccd-double >=2.1,<2.2.0a0
-  - libgcc >=14
-  - libstdcxx >=14
+  - libgcc >=15
+  - libstdcxx >=15
   - pthread-stubs
-  - python >=3.12,<3.13.0a0 *_cpython
   - python_abi 3.12.* *_cp312
   license: LGPL-2.1-or-later OR BSD-4-Clause
   purls: []
   run_exports:
     weak:
     - libode >=0.16.6,<0.16.7.0a0
-  size: 480536
-  timestamp: 1760969260005
+  size: 483037
+  timestamp: 1788699518118
 - conda: https://prefix.dev/conda-forge/linux-aarch64/libogg-1.3.5-h86ecc28_1.conda
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   md5: 319df383ae401c40970ee4e9bc836c7a
@@ -13083,17 +13358,17 @@ packages:
     - libstdcxx
   size: 28437
   timestamp: 1787617803748
-- conda: https://prefix.dev/conda-forge/linux-aarch64/libsystemd0-261.2-hd1ea486_1.conda
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-  md5: 81ad38ce03bc28e6e5023c6144b9c9b7
+- conda: https://prefix.dev/conda-forge/linux-aarch64/libsystemd0-261.3-hd1ea486_0.conda
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+  md5: 52a8139cae511102f5ba124ff6d44380
   depends:
   - libcap >=2.78,<2.79.0a0
   - libgcc >=15
   license: LGPL-2.1-or-later
   purls: []
   run_exports: {}
-  size: 801852
-  timestamp: 1788977224529
+  size: 804652
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 - conda: https://prefix.dev/conda-forge/linux-aarch64/libtiff-4.7.2-h45f9f85_1.conda
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   md5: c6f35f8f9695623b9055341bc280a642
@@ -13128,17 +13403,33 @@ packages:
     - libtinyobjloader ==2.0.0rc13
   size: 94929
   timestamp: 1773673299675
-- conda: https://prefix.dev/conda-forge/linux-aarch64/libudev1-261.2-hd1ea486_1.conda
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-  md5: 24f30fa0545f157ef42bdcb11bcb5423
+- conda: https://prefix.dev/conda-forge/linux-aarch64/libtoppra-0.6.9-h2d48502_3.conda
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+  md5: 6955c3f26d8310f2c35db4a35b321466
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+  - eigen-abi-devel
+  - libstdcxx >=15
+  - libgcc >=15
+  - eigen-abi >=5.0.1.100,<5.0.1.101.0a0
+  license: MIT
+  license_family: MIT
+  purls: []
+  run_exports:
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+    - libtoppra >=0.6.9,<0.6.10.0a0
+  size: 126474
+  timestamp: 1787566912146
+- conda: https://prefix.dev/conda-forge/linux-aarch64/libudev1-261.3-hd1ea486_0.conda
+  sha256: 1e60424ca5c9fca8ba3d266b4b1956d885c7ea9fff6ea791c35bc56cd7ec9a47
+  md5: d22400ab49ac6231d3bd197a992eec87
   depends:
   - libcap >=2.78,<2.79.0a0
   - libgcc >=15
   license: LGPL-2.1-or-later
   purls: []
   run_exports: {}
-  size: 606736
-  timestamp: 1788977229891
+  size: 608652
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 - conda: https://prefix.dev/conda-forge/linux-aarch64/libunwind-1.8.3-h6470e1d_0.conda
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   size: 419653
   timestamp: 1745310243392
-- conda: https://prefix.dev/conda-forge/linux-aarch64/lxml-6.1.2-py312hc2aa593_0.conda
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-  md5: 647a67ce697a55b4fe620cc7a5abca4e
+- conda: https://prefix.dev/conda-forge/linux-aarch64/lxml-6.1.3-py312hf72296d_0.conda
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+  md5: f0ce439785baf8ff856d88dbe13d2ea9
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   - libgcc >=15
   - libxml2
-  - libxml2-16 >=2.14.6
-  - libxslt >=1.1.43,<2.0a0
+  - libxml2-16 >=2.15.4
+  - libxslt >=1.1.45,<2.0a0
   - libzlib >=1.3.2,<2.0a0
   - python >=3.12,<3.13.0a0
-  - python >=3.12,<3.13.0a0 *_cpython
   - python_abi 3.12.* *_cp312
   license: BSD-3-Clause and MIT-CMU
   purls:
-  - pkg:pypi/lxml?source=hash-mapping
+  - pkg:pypi/lxml?source=compressed-mapping
   run_exports: {}
-  size: 1517289
-  timestamp: 1787133254898
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 - conda: https://prefix.dev/conda-forge/linux-aarch64/lz4-4.4.5-py312he78555a_1.conda
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   md5: a2e1f710c2a2229f53abb09d5efb9f96
@@ -13632,11 +13922,11 @@ packages:
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   size: 573069
   timestamp: 1787311468970
-- conda: https://prefix.dev/conda-forge/linux-aarch64/msgspec-0.21.1-py312hcd1a082_0.conda
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-  md5: bd0fef74e332b2f10e278d0152a9743e
+- conda: https://prefix.dev/conda-forge/linux-aarch64/msgspec-0.21.1-py312h3c7833f_1.conda
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+  md5: 0332455c9c7ccd7c19a8363d9c9276d9
   depends:
-  - libgcc >=14
+  - libgcc >=15
   - python >=3.12,<3.13.0a0
   - python >=3.12,<3.13.0a0 *_cpython
   - python_abi 3.12.* *_cp312
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+  - numpy >=1.25,<3
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+  - python >=3.12,<3.13.0a0 *_cpython
+  - python_abi 3.12.* *_cp312
+  - scipy
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   license_family: BSD
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   - python_abi 3.12.* *_cp312
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-  - libvulkan-loader >=1.4.357.0,<2.0a0
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+- conda: https://prefix.dev/conda-forge/linux-aarch64/roboplan-cartesian-planning-python-0.6.1-py312h8d8f5a6_0.conda
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+  - libstdcxx >=15
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+  license: MIT
+  license_family: MIT
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+  - eigen-abi >=5.0.1.100,<5.0.1.101.0a0
+  - python_abi 3.12.* *_cp312
+  license: MIT
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+  license_family: MIT
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+  license: MIT
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+  - roboplan-python >=0.6.1,<0.6.2.0a0
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+  - roboplan-example-models-python >=0.6.1,<0.6.2.0a0
+  - python_abi 3.12.* *_cp312
+  license: MIT
+  license_family: MIT
+  purls: []
+  run_exports:
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   license_family: BSD
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+  - pkg:pypi/scipy?source=compressed-mapping
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-  - libstdcxx >=14
+  - libgcc >=15
+  - libstdcxx >=15
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   license_family: BSD
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+  - pkg:pypi/sip?source=compressed-mapping
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+  - libtoppra >=0.6.9,<0.6.10.0a0
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+  - pkg:pypi/wrapt?source=compressed-mapping
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+  - libgcc >=15
   - libsodium >=1.0.22,<1.0.23.0a0
+  - krb5 >=1.22.2,<1.23.0a0
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+  - python >=3.11
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+  - graphviz >=14.1.2,<15.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-2-Clause
+  run_exports: {}
+  size: 21818
+  timestamp: 1788982442689
 - conda: https://prefix.dev/robostack-jazzy/linux-64/ros2-pybind11-vendor-3.1.3-np2py312h2ed9cc7_21.conda
   sha256: e662ca0b977e3bf2107127115e11bcaebf1d97b7b9a975adb6b1a60882a68c4a
   md5: f9be18d4db221876bf1208eb96a956e9
@@ -25833,6 +26404,106 @@ packages:
   run_exports: {}
   size: 29677
   timestamp: 1788259944553
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros2-roboplan-0.6.1-py312h68d4612_21.conda
+  sha256: 4a16b200e54869190b9a4c28c7775459bd5985eee8ebff5a6a2612162c911d01
+  md5: 4a349186bd789b567b39e45c53cbd71d
+  depends:
+  - cpp-expected
+  - eigen
+  - eigen-abi-devel
+  - python
+  - roboplan-python >=0.6.1,<0.7.0a0
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-pinocchio
+  - ros2-ros-workspace
+  - ros2-tinyxml2-vendor
+  - ros2-yaml-cpp-vendor
+  - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  license: MIT
+  run_exports: {}
+  size: 31691
+  timestamp: 1788982580561
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros2-roboplan-cartesian-planning-0.6.1-py312h24bf083_21.conda
+  sha256: 4a71ceef86dd2db2bf4cb8d644204c593666bb61c8dfd39a1b68bb1ed7849907
+  md5: 90ea849b00c89cf74f068164a3671db5
+  depends:
+  - python
+  - roboplan-cartesian-planning-python >=0.6.1,<0.7.0a0
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-roboplan
+  - ros2-roboplan-oink
+  - ros2-roboplan-toppra
+  - ros2-ros-workspace
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  license: MIT
+  run_exports: {}
+  size: 31736
+  timestamp: 1788982760417
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros2-roboplan-oink-0.6.1-py312h24bf083_21.conda
+  sha256: 38cf4a720a7d54e9076efbbc5fb12e14b6d45097ae690280a06328746d0ce535
+  md5: 9f3cba5817e245ad3215eae00c477b38
+  depends:
+  - python
+  - roboplan-oink-python >=0.6.1,<0.7.0a0
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-proxsuite
+  - ros2-roboplan
+  - ros2-ros-workspace
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - python_abi 3.12.* *_cp312
+  license: MIT
+  run_exports: {}
+  size: 31273
+  timestamp: 1788982642623
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros2-roboplan-rrt-0.6.1-py312h24bf083_21.conda
+  sha256: be6c06fec03da92c232c8a33ecd1a56b6d7a4f16923c9890ad4af47098d53687
+  md5: 0719a8f54680c6f58718778dcd24f034
+  depends:
+  - python
+  - roboplan-rrt-python >=0.6.1,<0.7.0a0
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-roboplan
+  - ros2-ros-workspace
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - python_abi 3.12.* *_cp312
+  license: MIT
+  run_exports: {}
+  size: 31328
+  timestamp: 1788982625487
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros2-roboplan-simple-ik-0.6.1-py312h24bf083_21.conda
+  sha256: 5532f74c00a2122b6b2826c6c282fd502ef27330deb691b7884f28b007f64485
+  md5: 869eb62707cfbfc0d87716430bc4963f
+  depends:
+  - python
+  - roboplan-simple-ik-python >=0.6.1,<0.7.0a0
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-roboplan
+  - ros2-ros-workspace
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - python_abi 3.12.* *_cp312
+  license: MIT
+  run_exports: {}
+  size: 30163
+  timestamp: 1788982647272
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros2-roboplan-toppra-0.6.1-py312h24bf083_21.conda
+  sha256: 3ee07c3275c7c946e2615210dffa58603dfd9ae0f6af2d2c7dc321853107d173
+  md5: 6e645dc2b28285e0cf9fe771836eb53e
+  depends:
+  - python
+  - roboplan-toppra-python >=0.6.1,<0.7.0a0
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-roboplan
+  - ros2-ros-workspace
+  - ros2-toppra
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  license: MIT
+  run_exports: {}
+  size: 30952
+  timestamp: 1788982623948
 - conda: https://prefix.dev/robostack-jazzy/linux-64/ros2-robot-state-publisher-3.3.4-np2py312h2ed9cc7_21.conda
   sha256: 51a4c943d0aa7f92b528c1e938553dbcdae65b76574151959e14273be3025a7c
   md5: 198a2d56dede0f29f4dcf366fba9aa9d
@@ -28314,6 +28985,23 @@ packages:
   run_exports: {}
   size: 33951
   timestamp: 1788258611162
+- conda: https://prefix.dev/robostack-jazzy/linux-64/ros2-toppra-0.6.9-py312hc0f632a_21.conda
+  sha256: 1246a6eaad7bbed82e7ae661da2d232db12555414aae6bab23dff8a1248cddc2
+  md5: 61c668aa248ab734300f196d18bf8ecd
+  depends:
+  - eigen
+  - eigen-abi-devel
+  - python
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-ros-workspace
+  - toppra-python >=0.6.9,<0.7.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
+  license: MIT
+  run_exports: {}
+  size: 12620
+  timestamp: 1788982458947
 - conda: https://prefix.dev/robostack-jazzy/linux-64/ros2-trac-ik-kinematics-plugin-2.0.2-np2py312h2ed9cc7_21.conda
   sha256: 4a07abc5ec2e043ed966c9700da490f1bc7d681364f9c830f4826ce15c0990f9
   md5: 5b90f2f65a2a4e53379cf2a3e580b4b8
@@ -31398,6 +32086,54 @@ packages:
   run_exports: {}
   size: 29421
   timestamp: 1788190541122
+- conda: https://prefix.dev/robostack-jazzy/linux-aarch64/ros-jazzy-roboplan-0.6.1-he8cfe8b_21.conda
+  sha256: 2e05ad07e18b970a387c908c266dce403c67d7f402a651e7b0d62f9bbb05ed9a
+  md5: 94414c095a8ff0c9f487899263b85465
+  depends:
+  - ros2-roboplan ==0.6.1
+  run_exports: {}
+  size: 2017
+  timestamp: 1788982924128
+- conda: https://prefix.dev/robostack-jazzy/linux-aarch64/ros-jazzy-roboplan-cartesian-planning-0.6.1-he8cfe8b_21.conda
+  sha256: a4c6abaa47852298635e524f19c058ad8bc077428bb25eaf24aa47105a437f30
+  md5: 9054b2d0599c7570614ab2592e819b48
+  depends:
+  - ros2-roboplan-cartesian-planning ==0.6.1
+  run_exports: {}
+  size: 2103
+  timestamp: 1788983131944
+- conda: https://prefix.dev/robostack-jazzy/linux-aarch64/ros-jazzy-roboplan-oink-0.6.1-he8cfe8b_21.conda
+  sha256: 2141081cd0c371efeaa9db61a8b0a39de098e8326d3a74b20332d94f7f43aa0b
+  md5: 53099adce1e85f93816b8546606a12e6
+  depends:
+  - ros2-roboplan-oink ==0.6.1
+  run_exports: {}
+  size: 2040
+  timestamp: 1788982994801
+- conda: https://prefix.dev/robostack-jazzy/linux-aarch64/ros-jazzy-roboplan-rrt-0.6.1-he8cfe8b_21.conda
+  sha256: 20efd814b9af7ed6c901bee9ab3ab33b3315ff0e86d0ee1363b3b43a3b641610
+  md5: c9d30e6bc3fcca5095d1594397f9531d
+  depends:
+  - ros2-roboplan-rrt ==0.6.1
+  run_exports: {}
+  size: 2032
+  timestamp: 1788982994527
+- conda: https://prefix.dev/robostack-jazzy/linux-aarch64/ros-jazzy-roboplan-simple-ik-0.6.1-he8cfe8b_21.conda
+  sha256: e798167d77d944ae186ae89e8b895d125dcb137fe9bf21332e70dd1116d5b6cf
+  md5: 658483affab7690238a26487ffd1a135
+  depends:
+  - ros2-roboplan-simple-ik ==0.6.1
+  run_exports: {}
+  size: 2063
+  timestamp: 1788982994429
+- conda: https://prefix.dev/robostack-jazzy/linux-aarch64/ros-jazzy-roboplan-toppra-0.6.1-he8cfe8b_21.conda
+  sha256: f21692303a3483aea91955ac1f850614f1177f615810ae846ce5d331d9fedfe7
+  md5: 73bd68ac44df264f47d595b8dfecee61
+  depends:
+  - ros2-roboplan-toppra ==0.6.1
+  run_exports: {}
+  size: 2051
+  timestamp: 1788983063077
 - conda: https://prefix.dev/robostack-jazzy/linux-aarch64/ros-jazzy-ros-base-0.11.0-he8cfe8b_21.conda
   sha256: cdfda8e2e678fdcb67f5e45c53765bc012d95d765b1e5578a4c65dfe2a42afa2
   md5: 7b5a884b00833e65d7f4710afb8d61ae
@@ -36229,6 +36965,27 @@ packages:
   run_exports: {}
   size: 77281
   timestamp: 1788269044341
+- conda: https://prefix.dev/robostack-jazzy/linux-aarch64/ros2-proxsuite-0.7.3-np2py312h0fdd000_21.conda
+  sha256: 6fbbd5695f21c8754f06a53a086a4a1efba2af75aa7125756621572cead14f4b
+  md5: 92728086797888e9b0933bbf77c40744
+  depends:
+  - eigen
+  - eigen-abi-devel
+  - numpy
+  - proxsuite >=0.7.3,<0.8.0a0
+  - python
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-ros-workspace
+  - scipy
+  - eigen-abi >=5.0.1.100,<5.0.1.101.0a0
+  - graphviz >=14.1.2,<15.0a0
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-2-Clause
+  run_exports: {}
+  size: 22745
+  timestamp: 1788982728300
 - conda: https://prefix.dev/robostack-jazzy/linux-aarch64/ros2-pybind11-vendor-3.1.3-np2py312h61f2ce4_21.conda
   sha256: 323336380a1cfd4e906f88b372d8e0f9a14a530d96db9d0aeb055e475a6cc363
   md5: db0bf263bcb32c1289ce5f5247ef8807
@@ -36987,6 +37744,106 @@ packages:
   run_exports: {}
   size: 29644
   timestamp: 1788261319888
+- conda: https://prefix.dev/robostack-jazzy/linux-aarch64/ros2-roboplan-0.6.1-py312hd73a0c1_21.conda
+  sha256: b663850d87fe539e2e1e1a960951a62630fb404d15d6365e9f09612af419d24c
+  md5: 097f9132484c8019a288707ccac07186
+  depends:
+  - cpp-expected
+  - eigen
+  - eigen-abi-devel
+  - python
+  - roboplan-python >=0.6.1,<0.7.0a0
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-pinocchio
+  - ros2-ros-workspace
+  - ros2-tinyxml2-vendor
+  - ros2-yaml-cpp-vendor
+  - python_abi 3.12.* *_cp312
+  - eigen-abi >=5.0.1.100,<5.0.1.101.0a0
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  license: MIT
+  run_exports: {}
+  size: 31233
+  timestamp: 1788982871246
+- conda: https://prefix.dev/robostack-jazzy/linux-aarch64/ros2-roboplan-cartesian-planning-0.6.1-py312h9804fc4_21.conda
+  sha256: be1ade5f27a61429456f3cc1a571c6f9e0375ad6c87428de85aec2b7deb8afa6
+  md5: 7c9f717ff0b9af94f7f371df53712aa8
+  depends:
+  - python
+  - roboplan-cartesian-planning-python >=0.6.1,<0.7.0a0
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-roboplan
+  - ros2-roboplan-oink
+  - ros2-roboplan-toppra
+  - ros2-ros-workspace
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  license: MIT
+  run_exports: {}
+  size: 31227
+  timestamp: 1788982994146
+- conda: https://prefix.dev/robostack-jazzy/linux-aarch64/ros2-roboplan-oink-0.6.1-py312h9804fc4_21.conda
+  sha256: 5fbff2bff72def286eb7e64469d29deb8ebd8fc06c87b5e44092d8de9190cea8
+  md5: 8c0b473421fabdaa041bf006f449b66b
+  depends:
+  - python
+  - roboplan-oink-python >=0.6.1,<0.7.0a0
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-proxsuite
+  - ros2-roboplan
+  - ros2-ros-workspace
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  license: MIT
+  run_exports: {}
+  size: 30735
+  timestamp: 1788982922010
+- conda: https://prefix.dev/robostack-jazzy/linux-aarch64/ros2-roboplan-rrt-0.6.1-py312h9804fc4_21.conda
+  sha256: 15f1b37008a834a1a53a61defead42e7728dba25a59ca4d4736abce977082860
+  md5: ec88623817cce84887ecab483fa7cf93
+  depends:
+  - python
+  - roboplan-rrt-python >=0.6.1,<0.7.0a0
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-roboplan
+  - ros2-ros-workspace
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  license: MIT
+  run_exports: {}
+  size: 30901
+  timestamp: 1788982908140
+- conda: https://prefix.dev/robostack-jazzy/linux-aarch64/ros2-roboplan-simple-ik-0.6.1-py312h9804fc4_21.conda
+  sha256: af4d4f523ef769a2e9cc1dea3739eb063a7fc833e178d4f7da19699db521e00a
+  md5: 01334e5dcdff77fee659f30c8b4a1157
+  depends:
+  - python
+  - roboplan-simple-ik-python >=0.6.1,<0.7.0a0
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-roboplan
+  - ros2-ros-workspace
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - python_abi 3.12.* *_cp312
+  license: MIT
+  run_exports: {}
+  size: 29730
+  timestamp: 1788982925157
+- conda: https://prefix.dev/robostack-jazzy/linux-aarch64/ros2-roboplan-toppra-0.6.1-py312h9804fc4_21.conda
+  sha256: cfdba8381e5d293cf2c85d8bc17a8297d33ff3af87f178dbcbbd183fa988c9af
+  md5: e0646d76871dbca049d5b7145186d264
+  depends:
+  - python
+  - roboplan-toppra-python >=0.6.1,<0.7.0a0
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-roboplan
+  - ros2-ros-workspace
+  - ros2-toppra
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  license: MIT
+  run_exports: {}
+  size: 30438
+  timestamp: 1788982907404
 - conda: https://prefix.dev/robostack-jazzy/linux-aarch64/ros2-robot-state-publisher-3.3.4-np2py312h61f2ce4_21.conda
   sha256: d231e53feebb819fccbb961e5a6c52b21e10a4435dad33427e857d38d118067d
   md5: f658f02b58ae87894e40c79416a457ef
@@ -39362,6 +40219,23 @@ packages:
   run_exports: {}
   size: 33945
   timestamp: 1788260057121
+- conda: https://prefix.dev/robostack-jazzy/linux-aarch64/ros2-toppra-0.6.9-py312h3157cf9_21.conda
+  sha256: eb3f7385581f8407502dfb0b83926f773ceeed5ac432827361b57a089c69a02f
+  md5: d9a4d79b4988108a01a9968bb7e21633
+  depends:
+  - eigen
+  - eigen-abi-devel
+  - python
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-ros-workspace
+  - toppra-python >=0.6.9,<0.7.0a0
+  - python_abi 3.12.* *_cp312
+  - eigen-abi >=5.0.1.100,<5.0.1.101.0a0
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  license: MIT
+  run_exports: {}
+  size: 12549
+  timestamp: 1788982744207
 - conda: https://prefix.dev/robostack-jazzy/linux-aarch64/ros2-trac-ik-kinematics-plugin-2.0.2-np2py312h61f2ce4_21.conda
   sha256: 28151a13879f14f7d5f83b1d17d5b2ff7274d1948812e6db76ccf59719e455e3
   md5: f17f973850b6e86142963febe6956961
diff --git a/pixi.toml b/pixi.toml
index 9982e20..9444234 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -56,7 +56,10 @@ mold = ">=2.40.4,<3"
 colcon-common-extensions = ">=0.3.0,<0.4"
 colcon-mixin = ">=0.2.3,<0.3"
 pip = "*"
-nanobind = ">=2.8.0,<3"
+nanobind = ">=2.12.0,<3"
+# This is dark but if we don't match the exact version of what was used in
+# core roboplan objects will not be able to be shared in the bindings.
+nanobind-abi = "==20"
 trimesh = ">=4.11.4,<5"
 pycollada = ">=0.9.3,<0.10"
 viser = ">=1.0.29,<2"
@@ -119,6 +122,14 @@ ros-jazzy-ur-robot-driver = "*"
 ros-jazzy-velocity-controllers = "*"
 ros-jazzy-xacro = "*"
 
+# RoboPlan dependencies
+ros-jazzy-roboplan = "*"
+ros-jazzy-roboplan-cartesian-planning = "*"
+ros-jazzy-roboplan-oink = "*"
+ros-jazzy-roboplan-rrt = "*"
+ros-jazzy-roboplan-simple-ik = "*"
+ros-jazzy-roboplan-toppra = "*"
+
 # Dependencies that not available on conda-forge and must be fetched from PyPi.
 # Try not to use this section unless absolutely necessary.
 [pypi-dependencies]
diff --git a/src/clr_demos/clr_roboplan_demos/package.xml b/src/clr_demos/clr_roboplan_demos/package.xml
index c297034..0b12853 100644
--- a/src/clr_demos/clr_roboplan_demos/package.xml
+++ b/src/clr_demos/clr_roboplan_demos/package.xml
@@ -11,10 +11,14 @@
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <depend>roboplan</depend>
+  <depend>roboplan_cartesian_planning</depend>
   <depend>roboplan_simple_ik</depend>
   <depend>roboplan_oink</depend>
   <depend>roboplan_rrt</depend>
   <depend>roboplan_toppra</depend>
+  <depend>roboplan_ros_py</depend>
+  <depend>roboplan_ros_cpp</depend>
+  <depend>roboplan_ros_visualization</depend>
   <depend>xacro</depend>
 
   <export>
diff --git a/src/external/imetro_behavior b/src/external/imetro_behavior
index 11efab1..de5be2c 160000
--- a/src/external/imetro_behavior
+++ b/src/external/imetro_behavior
@@ -1 +1 @@
-Subproject commit 11efab1c7851a89b4cd65dff051a7b453e12e5dd
+Subproject commit de5be2c0f93ce02dec6ab4778c2fd02d01a3ca21
diff --git a/src/external/mujoco_ros2_control b/src/external/mujoco_ros2_control
index 92732a6..5e7e084 160000
--- a/src/external/mujoco_ros2_control
+++ b/src/external/mujoco_ros2_control
@@ -1 +1 @@
-Subproject commit 92732a6bd1ff40671cecd417f53a40c41fde8824
+Subproject commit 5e7e0842a14551b6321ec379dc50d91b35a78fd6
diff --git a/src/external/roboplan b/src/external/roboplan
deleted file mode 160000
index ac29aa9..0000000
--- a/src/external/roboplan
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit ac29aa913cc4e5bfb647d072f6fbe3ad5a48c17c
diff --git a/src/external/roboplan-ros b/src/external/roboplan-ros
index 2f45e58..91580a6 160000
--- a/src/external/roboplan-ros
+++ b/src/external/roboplan-ros
@@ -1 +1 @@
-Subproject commit 2f45e58533c6d3a25f4f664b0fb29ae09b6e98d5
+Subproject commit 91580a6d95444e1230b01745a533e09424557058