diff --git a/dependencies_unstable.repos b/dependencies_unstable.repos
new file mode 100644
index 00000000..89a40eda
--- /dev/null
+++ b/dependencies_unstable.repos
@@ -0,0 +1,45 @@
+repositories:
+  ros_industrial_cmake_boilerplate:
+    type: git
+    url: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
+    version: master
+  tesseract:
+    type: git
+    url: https://github.com/tesseract-robotics/tesseract.git
+    version: master
+  trajopt:
+    type: git
+    url: https://github.com/tesseract-robotics/trajopt.git
+    version: master
+  tesseract_planning:
+    type: git
+    url: https://github.com/tesseract-robotics/tesseract_planning.git
+    version: master
+  tesseract_qt:
+    type: git
+    url: https://github.com/tesseract-robotics/tesseract_qt.git
+    version: main
+  descartes_light:
+    type: git
+    url: https://github.com/swri-robotics/descartes_light.git
+    version: master
+  opw_kinematics:
+    type: git
+    url: https://github.com/Jmeyer1292/opw_kinematics.git
+    version: master
+  ifopt:
+    type: git
+    url: https://github.com/ethz-adrl/ifopt.git
+    version: master
+  taskflow:
+    type: git
+    url: https://github.com/taskflow/taskflow.git
+    version: master
+  Qt-Advanced-Docking-System:
+    type: git
+    url: https://github.com/Levi-Armstrong/Qt-Advanced-Docking-System.git
+    version: ros
+  fcl:
+    type: git
+    url: https://github.com/flexible-collision-library/fcl.git
+    version: master
diff --git a/dependencies_unstable.rosinstall b/dependencies_unstable.rosinstall
deleted file mode 100644
index 3380e320..00000000
--- a/dependencies_unstable.rosinstall
+++ /dev/null
@@ -1,32 +0,0 @@
-- git:
-    local-name: ros_industrial_cmake_boilerplate
-    uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: master
-- git:
-    local-name: tesseract
-    uri: https://github.com/ros-industrial-consortium/tesseract.git
-    version: master
-- git:
-    local-name: trajopt
-    uri: https://github.com/ros-industrial-consortium/trajopt_ros.git
-    version: master
-- git:
-    local-name: tesseract_planning
-    uri: https://github.com/ros-industrial-consortium/tesseract_planning.git
-    version: master
-- git:
-    local-name: tesseract_qt
-    uri: https://github.com/tesseract-robotics/tesseract_qt.git
-    version: main
-- git:
-    local-name: descartes_light
-    uri: https://github.com/swri-robotics/descartes_light.git
-    version: master
-- git:
-    local-name: opw_kinematics
-    uri: https://github.com/Jmeyer1292/opw_kinematics.git
-    version: master
-- git:
-    local-name: ifopt
-    uri: https://github.com/ethz-adrl/ifopt.git
-    version: master
diff --git a/dependencies_with_ext.repos b/dependencies_with_ext.repos
new file mode 100644
index 00000000..61cb61ec
--- /dev/null
+++ b/dependencies_with_ext.repos
@@ -0,0 +1,49 @@
+repositories:
+  ros_industrial_cmake_boilerplate:
+    type: git
+    url: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
+    version: 0.4.5
+  tesseract_ext:
+    type: git
+    url: https://github.com/tesseract-robotics/tesseract_ext.git
+    version: 0.17.0
+  tesseract:
+    type: git
+    url: https://github.com/tesseract-robotics/tesseract.git
+    version: 0.17.0
+  trajopt:
+    type: git
+    url: https://github.com/tesseract-robotics/trajopt.git
+    version: 0.5.2
+  tesseract_planning:
+    type: git
+    url: https://github.com/tesseract-robotics/tesseract_planning.git
+    version: 0.17.0
+  tesseract_qt:
+    type: git
+    url: https://github.com/tesseract-robotics/tesseract_qt.git
+    version: 0.17.0
+  descartes_light:
+    type: git
+    url: https://github.com/swri-robotics/descartes_light.git
+    version: fbb74eb
+  opw_kinematics:
+    type: git
+    url: https://github.com/Jmeyer1292/opw_kinematics.git
+    version: 0.5.0
+  ifopt:
+    type: git
+    url: https://github.com/ethz-adrl/ifopt.git
+    version: 2.1.3
+  taskflow:
+    type: git
+    url: https://github.com/taskflow/taskflow.git
+    version: v3.4.0
+  Qt-Advanced-Docking-System:
+    type: git
+    url: https://github.com/Levi-Armstrong/Qt-Advanced-Docking-System.git
+    version: ros
+  fcl:
+    type: git
+    url: https://github.com/flexible-collision-library/fcl.git
+    version: 0.7.0
diff --git a/dependencies_with_ext.rosinstall b/dependencies_with_ext.rosinstall
deleted file mode 100644
index 7b8f69c5..00000000
--- a/dependencies_with_ext.rosinstall
+++ /dev/null
@@ -1,36 +0,0 @@
-- git:
-    local-name: ros_industrial_cmake_boilerplate
-    uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.4.5
-- git:
-    local-name: tesseract_ext
-    uri: https://github.com/tesseract-robotics/tesseract_ext.git
-    version: master
-- git:
-    local-name: tesseract
-    uri: https://github.com/tesseract-robotics/tesseract.git
-    version: 0.17.0
-- git:
-    local-name: trajopt
-    uri: https://github.com/tesseract-robotics/trajopt_ros.git
-    version: 0.5.2
-- git:
-    local-name: tesseract_planning
-    uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 0.17.0
-- git:
-    local-name: tesseract_qt
-    uri: https://github.com/tesseract-robotics/tesseract_qt.git
-    version: 0.17.0
-- git:
-    local-name: descartes_light
-    uri: https://github.com/swri-robotics/descartes_light.git
-    version: 0.3.1
-- git:
-    local-name: opw_kinematics
-    uri: https://github.com/Jmeyer1292/opw_kinematics.git
-    version: 0.4.6
-- git:
-    local-name: ifopt
-    uri: https://github.com/ethz-adrl/ifopt.git
-    version: 2.1.3