diff --git a/.github/workflows/unstable.yml b/.github/workflows/unstable.yml
new file mode 100644
index 0000000000..eb4815aa9a
--- /dev/null
+++ b/.github/workflows/unstable.yml
@@ -0,0 +1,56 @@
+name: Unstable
+
+on:
+  push:
+    branches:
+      - master
+      - 'dev**'
+  pull_request:
+    paths:
+      - 'tesseract**'
+      - '.github/workflows/unstable.yml'
+      - '**.repos'
+  schedule:
+    - cron: '0 5 * * *'
+  release:
+    types:
+      - released
+
+jobs:
+  ci:
+    name: ${{ matrix.distro }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [focal, jammy]
+    container:
+      image: ghcr.io/tesseract-robotics/tesseract:${{ matrix.distro }}-master
+      env:
+        CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.distro }}/.ccache"
+        DEBIAN_FRONTEND: noninteractive
+        TZ: Etc/UTC
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          path: target_ws/src
+
+      - name: Install Depends
+        shell: bash
+        run: |
+          apt update
+          apt upgrade -y
+          apt install -y wget software-properties-common
+          add-apt-repository ppa:levi-armstrong/tesseract-robotics
+          apt install -y libompl-dev taskflow
+
+      - name: Build and Tests
+        uses: tesseract-robotics/colcon-action@before_script
+        with:
+          before-script: source /opt/tesseract/install/setup.bash
+          ccache-prefix: ${{ matrix.distro }}
+          vcs-file: dependencies_unstable.repos
+          upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
+          target-path: target_ws/src
+          target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON
diff --git a/.github/workflows/unstable_build.yml b/.github/workflows/unstable_build.yml
deleted file mode 100644
index d705af1a5e..0000000000
--- a/.github/workflows/unstable_build.yml
+++ /dev/null
@@ -1,73 +0,0 @@
-name: Unstable
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  schedule:
-    - cron: '0 5 * * *'
-
-jobs:
-  ci:
-    name: Unstable
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        distro: [focal, jammy]
-    env:
-      REGISTRY: ghcr.io
-      IMAGE_NAME: ${{ github.repository }}
-
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v1
-
-      - name: Free disk space
-        continue-on-error: true
-        run: |
-          sudo swapoff -a
-          sudo rm -f /swapfile
-          sudo apt clean
-          docker rmi $(docker image ls -aq)
-          df -h
-
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        shell: cmake -P {0}
-        run: |
-          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-          message("::set-output name=timestamp::${current_date}")
-
-      - name: ccache cache files
-        continue-on-error: true
-        uses: actions/cache@v1.1.0
-        with:
-          path: ${{ matrix.distro }}/.ccache
-          key: ${{ matrix.distro }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
-          restore-keys: |
-            ${{ matrix.distro }}-ccache-
-
-      - name: Login to Github container registry
-        uses: docker/login-action@v1
-        with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Build repository
-        uses: 'tesseract-robotics/industrial_ci@0109bf3523050402490b56e19c9554e7d7c5379f'
-        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 }}_
-          BEFORE_INIT: './.github/workflows/add_sources.sh'
-          AFTER_INIT: ''
-          UPSTREAM_WORKSPACE: dependencies_unstable.repos
-          UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-          ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin ompl taskflow descartes_light trajopt trajopt_ifopt trajopt_sco trajopt_sqp ruckig"
-          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"