diff --git a/.github/workflows/colcon.yaml b/.github/workflows/colcon.yaml
index 3ec2d796c..a0cfc0056 100644
--- a/.github/workflows/colcon.yaml
+++ b/.github/workflows/colcon.yaml
@@ -35,7 +35,7 @@ jobs:
         apt update
         rosdep update
         source /opt/ros/${{matrix.config.rosdistro}}/setup.bash
-        rosdep install --from-paths src --ignore-src -y --skip-keys "slam_toolbox"
+        rosdep install --from-paths src --ignore-src -y --skip-keys "slam_toolbox octomap_server"
       shell: bash
     - name: Colcon Build (Release)
       run: |
diff --git a/.github/workflows/industrial-ci.yaml b/.github/workflows/industrial-ci.yaml
index 9dcea912f..10b50a4ef 100644
--- a/.github/workflows/industrial-ci.yaml
+++ b/.github/workflows/industrial-ci.yaml
@@ -34,6 +34,6 @@ jobs:
       # It also is out of date, so grid_map is just going to skip keys we are sure don't work.
       - name: set ROSDEP_SKIP_KEYS to skip nav2 keys
         if: ${{ matrix.env.ROS_DISTRO == 'rolling' }}
-        run: echo "ROSDEP_SKIP_KEYS=slam_toolbox" >> $GITHUB_ENV
+        run: echo "ROSDEP_SKIP_KEYS=slam_toolbox behaviortree-cpp octomap_server" >> $GITHUB_ENV
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}
diff --git a/grid_map_core/CMakeLists.txt b/grid_map_core/CMakeLists.txt
index cbf8ff5da..297c9b004 100644
--- a/grid_map_core/CMakeLists.txt
+++ b/grid_map_core/CMakeLists.txt
@@ -5,9 +5,6 @@ project(grid_map_core)
 find_package(ament_cmake REQUIRED)
 find_package(grid_map_cmake_helpers REQUIRED)
 
-## Define Eigen addons.
-include(cmake/${PROJECT_NAME}-extras.cmake)
-
 ## System dependencies are found with CMake's conventions
 find_package(Eigen3 REQUIRED)
 
@@ -44,6 +41,12 @@ target_include_directories(${PROJECT_NAME}
 
 target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen)
 
+target_compile_definitions(${PROJECT_NAME}
+  PUBLIC
+    EIGEN_DENSEBASE_PLUGIN="grid_map_core/eigen_plugins/DenseBasePlugin.hpp"
+    EIGEN_FUNCTORS_PLUGIN="grid_map_core/eigen_plugins/FunctorsPlugin.hpp"
+)
+
 #############
 ## Install ##
 #############
@@ -127,6 +130,4 @@ endif()
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(Eigen3)
-ament_package(CONFIG_EXTRAS
-  cmake/${PROJECT_NAME}-extras.cmake
-)
+ament_package()
diff --git a/grid_map_core/cmake/grid_map_core-extras.cmake b/grid_map_core/cmake/grid_map_core-extras.cmake
deleted file mode 100644
index dd4089d4e..000000000
--- a/grid_map_core/cmake/grid_map_core-extras.cmake
+++ /dev/null
@@ -1,17 +0,0 @@
-set(EIGEN_FUNCTORS_PLUGIN_PATH "grid_map_core/eigen_plugins/FunctorsPlugin.hpp")
-if(EIGEN_FUNCTORS_PLUGIN)
-  if(NOT EIGEN_FUNCTORS_PLUGIN STREQUAL EIGEN_FUNCTORS_PLUGIN_PATH)
-    message(FATAL_ERROR "EIGEN_FUNCTORS_PLUGIN already defined")
-  endif()
-else()
-  add_definitions(-DEIGEN_FUNCTORS_PLUGIN=\"${EIGEN_FUNCTORS_PLUGIN_PATH}\")
-endif()
-
-set(EIGEN_DENSEBASE_PLUGIN_PATH "grid_map_core/eigen_plugins/DenseBasePlugin.hpp")
-if(EIGEN_DENSEBASE_PLUGIN)
-  if(NOT EIGEN_DENSEBASE_PLUGIN STREQUAL EIGEN_DENSEBASE_PLUGIN_PATH)
-    message(FATAL_ERROR "EIGEN_DENSEBASE_PLUGIN already defined!")
-  endif()
-else()
-    add_definitions(-DEIGEN_DENSEBASE_PLUGIN=\"${EIGEN_DENSEBASE_PLUGIN_PATH}\")
-endif()
\ No newline at end of file
diff --git a/tools/ros2_dependencies.repos b/tools/ros2_dependencies.repos
index 168c7f12b..91a682e79 100644
--- a/tools/ros2_dependencies.repos
+++ b/tools/ros2_dependencies.repos
@@ -1,4 +1,8 @@
 repositories:
+  BehaviorTree/BehaviorTree.CPP:
+    type: git
+    url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
+    version: 4.6.2
   ros-planning/navigation2:
     type: git
     url: https://github.com/ros-navigation/navigation2.git