diff --git a/.github/workflows/code_quality.yml b/.github/workflows/code_quality.yml
index acfa0c4031..6efe7a863b 100644
--- a/.github/workflows/code_quality.yml
+++ b/.github/workflows/code_quality.yml
@@ -50,7 +50,7 @@ jobs:
           apt install -y clang-tidy libompl-dev taskflow
 
       - name: Build and Tests
-        uses: tesseract-robotics/colcon-action@v2
+        uses: tesseract-robotics/colcon-action@v8
         with:
           before-script: source /opt/tesseract/install/setup.bash && source /opt/trajopt/install/setup.bash
           ccache-prefix: ${{ matrix.job_type }}
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index dd9381d560..a4347769a0 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -19,7 +19,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        distro: [focal, jammy]
+        distro: [focal, jammy, noble]
     env:
       REGISTRY: ghcr.io
       IMAGE_NAME: ${{ github.repository }}
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index a3eeb6623d..d87bc9b1c8 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -17,7 +17,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        distro: [focal, jammy]
+        distro: [focal, jammy, noble]
     container:
       image: ghcr.io/tesseract-robotics/trajopt:${{ matrix.distro }}
       env:
@@ -35,12 +35,22 @@ jobs:
         run: |
           apt update
           apt upgrade -y
-          apt install -y wget software-properties-common
+          apt install -y wget libompl-dev
+      - name: Install Depends (non-noble)
+        if: ${{ matrix.distro != 'noble' }}
+        shell: bash
+        run: |
+          apt install -y software-properties-common
           add-apt-repository ppa:levi-armstrong/tesseract-robotics
-          apt install -y libompl-dev taskflow
+          apt install -y taskflow
+      - name: Install Depends (noble)
+        if: ${{ matrix.distro  == 'noble' }}
+        shell: bash
+        run: |
+          apt install -y libtaskflow-cpp-dev
 
       - name: Build and Tests
-        uses: tesseract-robotics/colcon-action@v2
+        uses: tesseract-robotics/colcon-action@v8
         with:
           before-script: source /opt/tesseract/install/setup.bash && source /opt/trajopt/install/setup.bash
           ccache-prefix: ${{ matrix.distro }}
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index b1d45dc5a1..90a1dd87a3 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -23,7 +23,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        distro: [focal, jammy]
+        distro: [focal, jammy, noble]
     container:
       image: ghcr.io/tesseract-robotics/trajopt:${{ matrix.distro }}-0.22
       env:
@@ -41,12 +41,22 @@ jobs:
         run: |
           apt update
           apt upgrade -y
-          apt install -y wget software-properties-common
+          apt install -y wget libompl-dev
+      - name: Install Depends (non-noble)
+        if: ${{ matrix.distro != 'noble' }}
+        shell: bash
+        run: |
+          apt install -y software-properties-common
           add-apt-repository ppa:levi-armstrong/tesseract-robotics
-          apt install -y libompl-dev taskflow
+          apt install -y taskflow
+      - name: Install Depends (noble)
+        if: ${{ matrix.distro  == 'noble' }}
+        shell: bash
+        run: |
+          apt install -y libtaskflow-cpp-dev
 
       - name: Build and Tests
-        uses: tesseract-robotics/colcon-action@v2
+        uses: tesseract-robotics/colcon-action@v8
         with:
           before-script: source /opt/tesseract/install/setup.bash && source /opt/trajopt/install/setup.bash
           ccache-prefix: ${{ matrix.distro }}
diff --git a/.github/workflows/unstable.yml b/.github/workflows/unstable.yml
index 21cabe6f18..cb4d906cfb 100644
--- a/.github/workflows/unstable.yml
+++ b/.github/workflows/unstable.yml
@@ -4,14 +4,14 @@ on:
   push:
     branches:
       - master
-      - 'dev**'
+      - "dev**"
   pull_request:
     paths:
-      - 'tesseract**'
-      - '.github/workflows/unstable.yml'
-      - '**.repos'
+      - "tesseract**"
+      - ".github/workflows/unstable.yml"
+      - "**.repos"
   schedule:
-    - cron: '0 5 * * *'
+    - cron: "0 5 * * *"
   release:
     types:
       - released
@@ -23,7 +23,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        distro: [focal, jammy]
+        distro: [focal, jammy, noble]
     container:
       image: ghcr.io/tesseract-robotics/trajopt:${{ matrix.distro }}-master
       env:
@@ -41,12 +41,22 @@ jobs:
         run: |
           apt update
           apt upgrade -y
-          apt install -y wget software-properties-common
+          apt install -y wget libompl-dev
+      - name: Install Depends (non-noble)
+        if: ${{ matrix.distro != 'noble' }}
+        shell: bash
+        run: |
+          apt install -y software-properties-common
           add-apt-repository ppa:levi-armstrong/tesseract-robotics
-          apt install -y libompl-dev taskflow
+          apt install -y taskflow
+      - name: Install Depends (noble)
+        if: ${{ matrix.distro  == 'noble' }}
+        shell: bash
+        run: |
+          apt install -y libtaskflow-cpp-dev
 
       - name: Build and Tests
-        uses: tesseract-robotics/colcon-action@v2
+        uses: tesseract-robotics/colcon-action@v8
         with:
           before-script: source /opt/tesseract/install/setup.bash && source /opt/trajopt/install/setup.bash
           ccache-prefix: ${{ matrix.distro }}
diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index 849effa07c..9486202c72 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -53,7 +53,7 @@ jobs:
         echo "CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE\vcpkg\installed\x64-windows-release" >> "$GITHUB_ENV"
 
     - name: Build and Tests
-      uses: tesseract-robotics/colcon-action@v1
+      uses: tesseract-robotics/colcon-action@v8
       with:
         ccache-prefix: ${{ matrix.distro }}
         vcs-file: .github/workflows/windows_dependencies.repos
diff --git a/docker/Dockerfile b/docker/Dockerfile
index e40853ae51..ff8b3b660e 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,5 +1,6 @@
 ARG TAG
 FROM ghcr.io/tesseract-robotics/trajopt:${TAG}
+ENV E_TAG=$TAG
 
 SHELL ["/bin/bash", "-c"]
 
@@ -8,10 +9,14 @@ ENV DEBIAN_FRONTEND noninteractive
 USER root
 
 # Install the dependency repositories
-RUN apt install -y --no-install-recommends software-properties-common \
+RUN if [[ $(lsb_release -cs) != noble ]] ; then \
+  apt install -y --no-install-recommends software-properties-common \
   && add-apt-repository -y ppa:levi-armstrong/tesseract-robotics \
   && apt update \
-  && apt install -y libompl-dev taskflow
+  && apt install -y libompl-dev taskflow \
+  ; else \
+  apt install -y libompl-dev libtaskflow-cpp-dev \
+  ; fi
 
 # Bind mount the source directory so as not to unnecessarily copy source code into the docker image
 ARG WORKSPACE_DIR=/opt/tesseract_planning