diff --git a/.github/workflows/code_quality.yml b/.github/workflows/code_quality.yml
index 88c0c977c0..acfa0c4031 100644
--- a/.github/workflows/code_quality.yml
+++ b/.github/workflows/code_quality.yml
@@ -29,7 +29,7 @@ jobs:
             env:
               TARGET_CMAKE_ARGS: "-DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CODE_COVERAGE=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF"
     container:
-      image: ghcr.io/tesseract-robotics/tesseract:jammy-master
+      image: ghcr.io/tesseract-robotics/trajopt:jammy-master
       env:
         CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.job_type }}/.ccache"
         DEBIAN_FRONTEND: noninteractive
@@ -52,7 +52,7 @@ jobs:
       - name: Build and Tests
         uses: tesseract-robotics/colcon-action@v2
         with:
-          before-script: source /opt/tesseract/install/setup.bash
+          before-script: source /opt/tesseract/install/setup.bash && source /opt/trajopt/install/setup.bash
           ccache-prefix: ${{ matrix.job_type }}
           vcs-file: dependencies_unstable.repos
           run-tests: false
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index 6801cd2d02..a3eeb6623d 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -19,7 +19,7 @@ jobs:
       matrix:
         distro: [focal, jammy]
     container:
-      image: ghcr.io/tesseract-robotics/tesseract:${{ matrix.distro }}
+      image: ghcr.io/tesseract-robotics/trajopt:${{ matrix.distro }}
       env:
         CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.distro }}/.ccache"
         DEBIAN_FRONTEND: noninteractive
@@ -42,7 +42,7 @@ jobs:
       - name: Build and Tests
         uses: tesseract-robotics/colcon-action@v2
         with:
-          before-script: source /opt/tesseract/install/setup.bash
+          before-script: source /opt/tesseract/install/setup.bash && source /opt/trajopt/install/setup.bash
           ccache-prefix: ${{ matrix.distro }}
           vcs-file: dependencies.repos
           upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index 5f32555db1..cad8a4b275 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -25,7 +25,7 @@ jobs:
       matrix:
         distro: [focal, jammy]
     container:
-      image: ghcr.io/tesseract-robotics/tesseract:${{ matrix.distro }}-0.21
+      image: ghcr.io/tesseract-robotics/trajopt:${{ matrix.distro }}-0.21
       env:
         CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.distro }}/.ccache"
         DEBIAN_FRONTEND: noninteractive
@@ -48,7 +48,7 @@ jobs:
       - name: Build and Tests
         uses: tesseract-robotics/colcon-action@v2
         with:
-          before-script: source /opt/tesseract/install/setup.bash
+          before-script: source /opt/tesseract/install/setup.bash && source /opt/trajopt/install/setup.bash
           ccache-prefix: ${{ matrix.distro }}
           vcs-file: dependencies.repos
           upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
diff --git a/.github/workflows/unstable.yml b/.github/workflows/unstable.yml
index 291fb1178a..21cabe6f18 100644
--- a/.github/workflows/unstable.yml
+++ b/.github/workflows/unstable.yml
@@ -25,7 +25,7 @@ jobs:
       matrix:
         distro: [focal, jammy]
     container:
-      image: ghcr.io/tesseract-robotics/tesseract:${{ matrix.distro }}-master
+      image: ghcr.io/tesseract-robotics/trajopt:${{ matrix.distro }}-master
       env:
         CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.distro }}/.ccache"
         DEBIAN_FRONTEND: noninteractive
@@ -48,7 +48,7 @@ jobs:
       - name: Build and Tests
         uses: tesseract-robotics/colcon-action@v2
         with:
-          before-script: source /opt/tesseract/install/setup.bash
+          before-script: source /opt/tesseract/install/setup.bash && source /opt/trajopt/install/setup.bash
           ccache-prefix: ${{ matrix.distro }}
           vcs-file: dependencies_unstable.repos
           upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
diff --git a/dependencies.repos b/dependencies.repos
index e437cdefdc..5c840941f1 100644
--- a/dependencies.repos
+++ b/dependencies.repos
@@ -2,10 +2,6 @@
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
     version: 0.5.4
-- git:
-    local-name: trajopt
-    uri: https://github.com/tesseract-robotics/trajopt.git
-    version: 0.7.0
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git
diff --git a/dependencies_unstable.repos b/dependencies_unstable.repos
index e4b84836f2..6af679a186 100644
--- a/dependencies_unstable.repos
+++ b/dependencies_unstable.repos
@@ -2,10 +2,6 @@
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
     version: master
-- git:
-    local-name: trajopt
-    uri: https://github.com/tesseract-robotics/trajopt.git
-    version: master
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 66b92c6c03..bb47ea70b5 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,5 +1,5 @@
 ARG TAG
-FROM ghcr.io/tesseract-robotics/tesseract:${TAG}
+FROM ghcr.io/tesseract-robotics/trajopt:${TAG}
 
 SHELL ["/bin/bash", "-c"]
 
@@ -26,6 +26,7 @@ RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/tesseract_planning \
 # Bind mount the source directory so as not to unnecessarily copy source code into the docker image
 RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/tesseract_planning \
   source /opt/tesseract/install/setup.bash \
+  source /opt/trajopt/install/setup.bash \
   && cd ${WORKSPACE_DIR} \ 
   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \
   && rm -rf build log