diff --git a/.github/workflows/cmake-linux-single-pkg.yml b/.github/workflows/cmake-linux-single-pkg.yml
new file mode 100644
index 00000000..3b65e4c0
--- /dev/null
+++ b/.github/workflows/cmake-linux-single-pkg.yml
@@ -0,0 +1,106 @@
+
+# Single package (subdirectory) builds of the components, based on CMake starter workflow template
+name: Single package builds, CMake multi-platform
+
+on: [push, fork, pull_request]
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      # Set fail-fast to false to ensure that feedback is delivered for all matrix combinations. Consider changing this to true when your workflow is stable.
+      fail-fast: true
+
+      # Set up a matrix to run the following 3 configurations:
+      # 1. <Windows, Release, latest MSVC compiler toolchain on the default runner image, default generator>
+      # 2. <Linux, Release, latest GCC compiler toolchain on the default runner image, default generator>
+      # 3. <Linux, Release, latest Clang compiler toolchain on the default runner image, default generator>
+      #
+      # To add more build types (Release, Debug, RelWithDebInfo, etc.) customize the build_type list.
+      matrix:
+        os: [ubuntu-latest]
+        build_type: [Release, Debug]
+        c_compiler: [gcc, clang]
+        include:
+          - os: ubuntu-latest
+            c_compiler: gcc
+            cpp_compiler: g++
+          - os: ubuntu-latest
+            c_compiler: clang
+            cpp_compiler: clang++
+
+
+    steps:
+    - uses: actions/checkout@v4
+    
+    - name: Install Qt dependencies
+      run: sudo apt-get -y install libqglviewer-dev-qt5 libqt5opengl5-dev
+
+    - name: Set reusable strings
+      # Turn repeated input strings (such as the build output directory) into step outputs. These step outputs can be used throughout the workflow file.
+      id: strings
+      shell: bash
+      run: |
+        echo "octomap-build-output-dir=${{ github.workspace }}/octomap/build" >> "$GITHUB_OUTPUT"
+        echo "dynamicEDT3D-build-output-dir=${{ github.workspace }}/dynamicEDT3D/build" >> "$GITHUB_OUTPUT"
+        echo "octovis-build-output-dir=${{ github.workspace }}/octovis/build" >> "$GITHUB_OUTPUT"
+
+    - name: octomap - Configure CMake
+      working-directory: octomap
+      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
+      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
+      run: >
+        cmake -B ${{ steps.strings.outputs.octomap-build-output-dir }}
+        -DCMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }}
+        -DCMAKE_C_COMPILER=${{ matrix.c_compiler }}
+        -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
+        -S ${{ github.workspace }}/octomap
+
+    - name: octomap - Build
+      working-directory: octomap
+      # Build your program with the given configuration. Note that --config is needed because the default Windows generator is a multi-config generator (Visual Studio generator).
+      run: cmake --build ${{ steps.strings.outputs.octomap-build-output-dir }} --config ${{ matrix.build_type }}
+
+    - name: octomap - Test
+      working-directory: ${{ steps.strings.outputs.octomap-build-output-dir }}
+      # Execute tests defined by the CMake configuration. Note that --build-config is needed because the default Windows generator is a multi-config generator (Visual Studio generator).
+      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+      run: ctest --build-config ${{ matrix.build_type }}
+      
+    - name: dynamicEDT3D - Configure CMake
+      working-directory: dynamicEDT3D
+      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
+      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
+      run: >
+        cmake -B ${{ steps.strings.outputs.dynamicEDT3D-build-output-dir }}
+        -DCMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }}
+        -DCMAKE_C_COMPILER=${{ matrix.c_compiler }}
+        -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
+        -S ${{ github.workspace }}/dynamicEDT3D
+
+    - name: dynamicEDT3D - Build
+      working-directory: dynamicEDT3D
+      # Build your program with the given configuration. Note that --config is needed because the default Windows generator is a multi-config generator (Visual Studio generator).
+      run: cmake --build ${{ steps.strings.outputs.dynamicEDT3D-build-output-dir }} --config ${{ matrix.build_type }}
+      
+      # No tests available
+      
+    - name: octovis - Configure CMake
+      working-directory: octovis
+      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
+      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
+      run: >
+        cmake -B ${{ steps.strings.outputs.octovis-build-output-dir }}
+        -DCMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }}
+        -DCMAKE_C_COMPILER=${{ matrix.c_compiler }}
+        -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
+        -S ${{ github.workspace }}/octovis
+
+    - name: octovis - Build
+      working-directory: octovis
+      # Build your program with the given configuration. Note that --config is needed because the default Windows generator is a multi-config generator (Visual Studio generator).
+      run: cmake --build ${{ steps.strings.outputs.octovis-build-output-dir }} --config ${{ matrix.build_type }}
+      
+      # No tests available
+
diff --git a/.github/workflows/cmake-multi-platform.yml b/.github/workflows/cmake-multi-platform.yml
index bfa96492..e98e8406 100644
--- a/.github/workflows/cmake-multi-platform.yml
+++ b/.github/workflows/cmake-multi-platform.yml
@@ -2,11 +2,7 @@
 # See: https://github.com/actions/starter-workflows/blob/main/ci/cmake-single-platform.yml
 name: CMake on multiple platforms
 
-on:
-  push:
-    branches: [ "devel" ]
-  pull_request:
-    branches: [ "devel" ]
+on: [push, fork, pull_request]
 
 jobs:
   build:
@@ -14,7 +10,7 @@ jobs:
 
     strategy:
       # Set fail-fast to false to ensure that feedback is delivered for all matrix combinations. Consider changing this to true when your workflow is stable.
-      fail-fast: false
+      fail-fast: true
 
       # Set up a matrix to run the following 3 configurations:
       # 1. <Windows, Release, latest MSVC compiler toolchain on the default runner image, default generator>
@@ -48,6 +44,9 @@ jobs:
 
     steps:
     - uses: actions/checkout@v4
+    
+    - name: Install Qt dependencies
+      run: sudo apt-get -y install libqglviewer-dev-qt5 libqt5opengl5-dev
 
     - name: Set reusable strings
       # Turn repeated input strings (such as the build output directory) into step outputs. These step outputs can be used throughout the workflow file.
diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
index d30465a7..daf4b3f5 100644
--- a/.github/workflows/industrial_ci_action.yml
+++ b/.github/workflows/industrial_ci_action.yml
@@ -3,8 +3,12 @@
 
 name: ROS-CI
 
-# This determines when this workflow is run
-on: [push, pull_request] # on all pushes and PRs
+# This determines when this workflow is run. Long-running ROS CI jobs only on devel and master
+on:
+  push:
+    branches: [ "devel", "master", "main" ]
+  pull_request:
+    branches: [ "devel", "master", "main" ]
 
 jobs:
   CI:
@@ -13,7 +17,7 @@ jobs:
         env:
           - {ROS_DISTRO: jazzy, PRERELEASE: true}          
           - {ROS_DISTRO: humble, PRERELEASE: true}
-          #- {ROS_DISTRO: rolling}  # 2024-03-12 temporarily deactivate until transitin to Ubuntu Noble is complete
+          #- {ROS_DISTRO: rolling}  # 2024-03-12 temporarily deactivate until transition to Ubuntu Noble is complete
     env:
       BUILDER: colcon
     runs-on: ubuntu-latest
diff --git a/dynamicEDT3D/CMakeLists.txt b/dynamicEDT3D/CMakeLists.txt
index a9a05efa..4bf58509 100644
--- a/dynamicEDT3D/CMakeLists.txt
+++ b/dynamicEDT3D/CMakeLists.txt
@@ -24,7 +24,8 @@ set(DYNAMICEDT3D_SOVERSION
 )
 
 if(NOT TARGET octomap::octomap)
-    find_package(octomap "${DYNAMICEDT3D_VERSION}" REQUIRED)
+    find_package(octomap "${DYNAMICEDT3D_VERSION}" REQUIRED
+        HINTS ${CMAKE_SOURCE_DIR}/../octomap/build)
 endif()
 
 set(DYNAMICEDT3D_FIND_DEPENDENCIES
diff --git a/octovis/CMakeLists.txt b/octovis/CMakeLists.txt
index 583e126b..d313b4e4 100644
--- a/octovis/CMakeLists.txt
+++ b/octovis/CMakeLists.txt
@@ -50,7 +50,8 @@ endif()
 
 # We need the main octomap library to link against (same version as octovis)
 if(NOT TARGET octomap::octomap)
-    find_package(octomap "${OCTOVIS_VERSION}" ${_required})
+    find_package(octomap "${OCTOVIS_VERSION}" ${_required}
+    HINTS ${CMAKE_SOURCE_DIR}/../octomap/build)
 endif()
 find_package(OpenGL ${_required})
 set(OCTOVIS_FIND_DEPENDENCIES