diff --git a/VERSION b/VERSION
index db77e0ee9..1cac385c6 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-1.10.5
+1.11.0
diff --git a/ci/build-package.sh b/ci/build-package.sh
index 5c0be9ea1..b48f4bb55 100755
--- a/ci/build-package.sh
+++ b/ci/build-package.sh
@@ -33,6 +33,8 @@ do
 done
 
 echo -e "\e[35m\e[1mPACKAGE     = ${PACKAGE}\e[0m"
+ROS_VERSION=$(docker exec -t tue-env bash -c 'source ~/.bashrc; echo "${ROS_VERSION}"' | tr -d '\r')
+echo -e "\e[35m\e[1mROS_VERSION = ${ROS_VERSION}\e[0m"
 
 # If packages is non-zero, this is a multi-package repo. In multi-package repo, check if this package needs CI.
 # If a single-package repo, CI is always needed.
@@ -45,5 +47,27 @@ fi
 
 # Use docker environment variables in all exec commands instead of script variables
 # Compile the package
-echo -e "\e[35m\e[1mCompile the package (catkin build -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_ENABLE_TESTING=OFF)\e[0m"
-docker exec -t tue-env bash -c 'source ~/.bashrc; cd "$TUE_SYSTEM_DIR"/src/"$PACKAGE" && catkin build --this --no-status -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_ENABLE_TESTING=OFF'
+if [[ "${ROS_VERSION}" == 1 ]]
+then
+    echo -e "\e[35m\e[1mCompile the package (catkin build -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_ENABLE_TESTING=OFF)\e[0m"
+    docker exec -t tue-env bash -c 'source ~/.bashrc; cd "${TUE_SYSTEM_DIR}"/src/"${PACKAGE}" && catkin build --this --no-status -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_ENABLE_TESTING=OFF'
+else
+    echo -e "\e[35m\e[1mCheck for default mixin repo (colcon mixin list)\e[0m"
+    MIXIN_REPOS=$(docker exec -t tue-env bash -c 'source ~/.bashrc; cd "${TUE_SYSTEM_DIR}" && colcon mixin list | grep -v "^- "' | tr -d '\r' | awk -F ": " '{print $1}')
+    if ! echo -e "${MIXIN_REPOS}" | grep "^default$" -q
+    then
+        echo -e "\e[35m\e[1mAdd the default mixin repo (colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml)\e[0m"
+        docker exec -t tue-env bash -c 'source ~/.bashrc; cd "${TUE_SYSTEM_DIR}" && colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml'
+    else
+        echo -e "\e[35m\e[1mDefault mixin repo already exists\e[0m"
+    fi
+
+    echo -e "\e[35m\e[1mUpdate colcon mixins (colcon mixin update)\e[0m"
+    docker exec -t tue-env bash -c 'source ~/.bashrc; cd "${TUE_SYSTEM_DIR}" && colcon mixin update'
+
+    echo -e "\e[35m\e[1mDeleting the merged install directory\e[0m"
+    docker exec -t tue-env bash -c 'source ~/.bashrc; cd "${TUE_SYSTEM_DIR}" && rm -rf install'
+
+    echo -e "\e[35m\e[1mCompile the package (colcon build --mixin rel-with-deb-info build-testing-off)\e[0m"
+    docker exec -t tue-env bash -c 'source ~/.bashrc; cd "${TUE_SYSTEM_DIR}" && colcon build --packages-up-to "${PACKAGE}" --mixin rel-with-deb-info build-testing-off --event-handlers desktop_notification- status- terminal_title-'
+fi
diff --git a/ci/main/action.yml b/ci/main/action.yml
index a17921127..926436501 100644
--- a/ci/main/action.yml
+++ b/ci/main/action.yml
@@ -1,15 +1,23 @@
 name: 'TUe CI'
 description: 'Install, build and test package in tue-env environment'
 inputs:
+  image:
+    default: 'ghcr.io/tue-robotics/tue-env-ros-noetic'
+    description: 'Container Image to be used'
+    required: false
+    type: string
   package:
     description: 'Package name'
     required: true
+    type: string
   ssh-key:
     description: 'SSH key used during install process'
     required: false
+    type: string
   ssh-known-hosts:
     description: 'Hosts to be added known_hosts'
     required: false
+    type: string
 runs:
   using: "composite"
   steps:
@@ -69,6 +77,7 @@ runs:
           done
         fi
         ${{ github.action_path }}/../install-package.sh \
+          --image=${{ inputs.image }} \
           --package=${{ inputs.package }} \
           --branch="${BRANCH}" \
           --commit="${GITHUB_SHA}" \
diff --git a/ci/modified-packages/action.yml b/ci/modified-packages/action.yml
index 2a67744a1..415c090ac 100644
--- a/ci/modified-packages/action.yml
+++ b/ci/modified-packages/action.yml
@@ -4,9 +4,11 @@ inputs:
   commit-range:
     description: 'Range of commits to determine modified files'
     required: true
+    type: string
   ignored-packages:
     description: 'Packages to be ignored at all times'
     required: false
+    type: string
 outputs:
   packages:
     description: 'Modified packages'
diff --git a/ci/test-package.sh b/ci/test-package.sh
index 696816c43..882bd666f 100755
--- a/ci/test-package.sh
+++ b/ci/test-package.sh
@@ -33,6 +33,8 @@ do
 done
 
 echo -e "\e[35m\e[1mPACKAGE     = ${PACKAGE}\e[0m"
+ROS_VERSION=$(docker exec -t tue-env bash -c 'source ~/.bashrc; echo "${ROS_VERSION}"' | tr -d '\r')
+echo -e "\e[35m\e[1mROS_VERSION = ${ROS_VERSION}\e[0m"
 
 # If packages is non-zero, this is a multi-package repo. In multi-package repo, check if this package needs CI.
 # If a single-package repo, CI is always needed.
@@ -43,10 +45,26 @@ then
     exit 0
 fi
 
-# Build test targets
-echo -e "\e[35m\e[1mBuild test targets of this package (catkin build --this --no-deps -DCATKIN_ENABLE_TESTING=ON)\e[0m"
-docker exec -t tue-env bash -c 'source ~/.bashrc; cd "$TUE_SYSTEM_DIR"/src/"$PACKAGE" && catkin build --this --no-status --no-deps -DCATKIN_ENABLE_TESTING=ON'
+# Use docker environment variables in all exec commands instead of script variables
+if [[ "${ROS_VERSION}" == 1 ]]
+then
+    # Build test targets
+    echo -e "\e[35m\e[1mBuild test targets of this package (catkin build --this --no-deps -DCATKIN_ENABLE_TESTING=ON)\e[0m"
+    docker exec -t tue-env bash -c 'source ~/.bashrc; cd "${TUE_SYSTEM_DIR}"/src/"${PACKAGE}" && catkin build --this --no-status --no-deps -DCATKIN_ENABLE_TESTING=ON'
+
+    # Run unit tests
+    echo -e "\e[35m\e[1mRun tests on this package (catkin test --this --no-deps -DCATKIN_ENABLE_TESTING=ON)\e[0m"
+    docker exec -t tue-env bash -c 'source ~/.bashrc; cd "${TUE_SYSTEM_DIR}"/src/"${PACKAGE}" && catkin test --this --no-status --no-deps -DCATKIN_ENABLE_TESTING=ON'
+else
+    # Build test targets
+    echo -e "\e[35m\e[1mBuild test targets of this package (colcon build --packages-select ${PACKAGE} --mixin rel-with-deb-info build-testing-on)\e[0m"
+    docker exec -t tue-env bash -c 'source ~/.bashrc; cd "${TUE_SYSTEM_DIR}" && colcon build --packages-select "${PACKAGE}" --mixin rel-with-deb-info build-testing-on --event-handlers desktop_notification- status- terminal_title-'
 
-# Run unit tests
-echo -e "\e[35m\e[1mRun tests on this package (catkin test --this --no-deps -DCATKIN_ENABLE_TESTING=ON)\e[0m"
-docker exec -t tue-env bash -c 'source ~/.bashrc; cd "$TUE_SYSTEM_DIR"/src/"$PACKAGE" && catkin test --this --no-status --no-deps -DCATKIN_ENABLE_TESTING=ON'
+    # Run unit tests
+    echo -e "\e[35m\e[1mRun tests on this package (colcon test --packages-select ${PACKAGE} --executor sequential)\e[0m"
+    docker exec -t tue-env bash -c 'source ~/.bashrc; cd "${TUE_SYSTEM_DIR}" && colcon test --packages-select "${PACKAGE}" --executor sequential --event-handlers desktop_notification- status- terminal_title- console_cohesion+'
+
+    # Check test results
+    echo -e "\e[35m\e[1mCheck test results (colcon test-result --verbose)\e[0m"
+    docker exec -t tue-env bash -c 'source ~/.bashrc; cd "${TUE_SYSTEM_DIR}" && colcon test-result --verbose'
+fi
diff --git a/installer/tue-install-impl.bash b/installer/tue-install-impl.bash
index e3d777207..06fd45efd 100755
--- a/installer/tue-install-impl.bash
+++ b/installer/tue-install-impl.bash
@@ -303,8 +303,8 @@ function _try_branch_git
     local repo branch _checkout_error_code
     repo="$1"
     branch="$2"
-    tue-install-debug "git -C $repo checkout $branch --"
-    _try_branch_res=$(git -C "$repo" checkout "$branch" -- 2>&1)  # _try_branch_res is a "global" variable from tue-install-git
+    tue-install-debug "git -C ${repo} checkout ${branch} --recurse-submodules --"
+    _try_branch_res=$(git -C "${repo}" checkout "${branch}" --recurse-submodules -- 2>&1)  # _try_branch_res is a "global" variable from tue-install-git
     _checkout_error_code=$?
     tue-install-debug "_try_branch_res(${_checkout_error_code}): ${_try_branch_res}"
 
diff --git a/installer/tue-install.bash b/installer/tue-install.bash
index db23409a7..99dd8c0b4 100755
--- a/installer/tue-install.bash
+++ b/installer/tue-install.bash
@@ -140,7 +140,7 @@ then
             then
                 echo -en "Already on branch ${branch}"
             else
-                git -C "${TUE_ENV_TARGETS_DIR}" checkout "${branch}" -- 2>&1
+                git -C "${TUE_ENV_TARGETS_DIR}" checkout "${branch}" --recurse-submodules -- 2>&1
                 git -C "${TUE_ENV_TARGETS_DIR}" submodule sync --recursive 2>&1
                 git -C "${TUE_ENV_TARGETS_DIR}" submodule update --init --recursive 2>&1
                 echo -e "Switched to branch ${branch}"