diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 928a9f1..e4bbf13 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -2,18 +2,41 @@ name: test
 on: [push]
 jobs:
   unittests:
-    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        os: ["ubuntu:20.04", "ubuntu:22.04"]
+        package: ["planning/templ"]
+        seed_config: [".ci/autoproj-config.yml"]
+    runs-on: ubuntu-latest
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
 
-      - name: Branch name
-        shell: bash
-        run: echo "##[set-output name=branch;]$(echo ${GITHUB_REF#refs/heads/})"
-        id: current_branch
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          repository: 2maz/rock-github-workflow
+          path: rock-github-workflow
+          ref: test
+
+      - name: Apply package / branch specific overrides
+        run:
+          if [ -d .ci/overrides.d/ ]; then
+             echo "Copying overrides from .ci/"
+             cp -R .ci/overrides.d/* rock-github-workflow/docker/overrides.d/;
+          fi
+
+      - name: Build
+        run: docker build -t rock/${{ matrix.os }} -f rock-github-workflow/docker/Dockerfile .
+                --build-arg PKG_NAME=${{ matrix.package }}
+                --build-arg PKG_BRANCH=${{ github.ref_name }}
+                --build-arg BASE_IMAGE=${{ matrix.os }}
+                --build-arg SEED_CONFIG=${{ matrix.seed_config }}
+                --build-arg BUILDCONF_URL=https://github.com/2maz/templ-buildconf
+                --build-arg BUILDCONF_BRANCH=test
 
-      - name: Build 20.04
-        run: docker build -t ubuntu-20.04/templ -f Dockerfile . --build-arg PKG_BRANCH=${{ steps.current_branch.outputs.branch }}
+      - name: Test
+        run: docker run rock/${{ matrix.os }}
+                /bin/bash -c
+                  "source /home/docker/rock_test/env.sh; BOOST_TEST_CATCH_SYSTEM_ERRORS=\"no\" make -C /home/docker/rock_test/${{ matrix.package }}/build test"
 
-      - name: Test-on-ubuntu:20.04
-        run: docker run ubuntu-20.04/templ /bin/bash -c "source /home/docker/rock_test/env.sh; cd /home/docker/rock_test/planning/templ; ./build/test/templ-test --log_level=all"
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c7020d2..5022c1f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,7 +6,6 @@ project(templ
     DESCRIPTION "TemPl - Planning for Reconfigurable Multi-Robot Systems"
 )
 set(CMAKE_COMPILE_EXPORT_COMMANDS on)
-set(ROCK_TEST_ENABLED on)
 find_package(Rock)
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 80c2afe..d8e670f 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,4 +1,5 @@
-find_package(Boost REQUIRED system filesystem serialization program_options)
+find_package(gecode REQUIRED)
+find_package(Boost REQUIRED system filesystem serialization program_options regex)
 
 # For adding the qt5 resources
 set(CMAKE_AUTORCC ON)
@@ -51,10 +52,18 @@ rock_library(templ_core
         utils/CSVLogger.hpp
         utils/CartographicMapping.hpp
         utils/Logger.hpp
-    LIBS ${Boost_LIBRARIES}
+    LIBS
+        ${Boost_LIBRARIES}
+        gecode::kernel
+        gecode::set
+        gecode::support
+        gecode::search
+        gecode::int
+        gecode::float
+        gecode::minimodel
         proj
     DEPS_PKGCONFIG
-        graph_analysis-core
+        graph_analysis
         numeric
         owlapi
         moreorg