diff --git a/.github/workflows/code_quality.yml b/.github/workflows/code_quality.yml
index d9890fbe..d145d5b0 100644
--- a/.github/workflows/code_quality.yml
+++ b/.github/workflows/code_quality.yml
@@ -50,6 +50,7 @@ jobs:
         with:
           before-script: apt install ros-${{ matrix.distro }}-ros-base && source /opt/tesseract_qt/install/setup.bash && source /opt/ros/${{ matrix.distro }}/setup.bash
           ccache-prefix: ${{ matrix.distro }}
+          vcs-file: .github/workflows/dependencies.repos
           run-tests: false
           target-path: target_ws/src
           target-args: --cmake-args ${{ matrix.env.TARGET_CMAKE_ARGS }}
diff --git a/.github/workflows/dependencies.repos b/.github/workflows/dependencies.repos
new file mode 100644
index 00000000..9eff8e7d
--- /dev/null
+++ b/.github/workflows/dependencies.repos
@@ -0,0 +1,5 @@
+repositories:
+  octomap_msgs:
+    type: git
+    url: https://github.com/OctoMap/octomap_msgs.git
+    version: 67be62db91510f3a10ac6c37b1013307c290631c
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index 687cab9a..33f75827 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -25,10 +25,13 @@ jobs:
         include:
           - os: focal
             distro: foxy
+            vcs-file:
           - os: jammy
             distro: humble
+            vcs-file: .github/workflows/dependencies.repos
           - os: jammy
             distro: rolling
+            vcs-file: .github/workflows/dependencies.repos
     container:
       image: ghcr.io/tesseract-robotics/tesseract_qt:${{ matrix.os }}-0.21
       env:
@@ -54,5 +57,6 @@ jobs:
         with:
           before-script: source /opt/tesseract_qt/install/setup.bash && source /opt/ros/${{ matrix.distro }}/setup.bash
           ccache-prefix: ${{ matrix.distro }}
+          vcs-file: ${{ matrix.vcs-file }}
           target-path: target_ws/src
           target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON
diff --git a/.github/workflows/unstable.yml b/.github/workflows/unstable.yml
index d54392e8..9e357ff9 100644
--- a/.github/workflows/unstable.yml
+++ b/.github/workflows/unstable.yml
@@ -25,10 +25,13 @@ jobs:
         include:
           - os: focal
             distro: foxy
+            vcs-file:
           - os: jammy
             distro: humble
+            vcs-file: .github/workflows/dependencies.repos
           - os: jammy
             distro: rolling
+            vcs-file: .github/workflows/dependencies.repos
     container:
       image: ghcr.io/tesseract-robotics/tesseract_qt:${{ matrix.os }}-master
       env:
@@ -54,5 +57,6 @@ jobs:
         with:
           before-script: source /opt/tesseract_qt/install/setup.bash && source /opt/ros/${{ matrix.distro }}/setup.bash
           ccache-prefix: ${{ matrix.distro }}
+          vcs-file: ${{ matrix.vcs-file }}
           target-path: target_ws/src
           target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON