diff --git a/moveit2.repos b/moveit2.repos
index aec6f2851e..8fb644d227 100644
--- a/moveit2.repos
+++ b/moveit2.repos
@@ -12,3 +12,7 @@ repositories:
     type: git
     url: https://github.com/moveit/moveit_resources.git
     version: ros2
+  ompl:
+    type: git
+    url: https://github.com/ompl/ompl.git
+    version: main
diff --git a/moveit_planners/ompl/CMakeLists.txt b/moveit_planners/ompl/CMakeLists.txt
index 91329a1e8d..6462894745 100644
--- a/moveit_planners/ompl/CMakeLists.txt
+++ b/moveit_planners/ompl/CMakeLists.txt
@@ -27,7 +27,7 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
 endif()
 
 include_directories(ompl_interface/include)
-include_directories(SYSTEM ${Boost_INCLUDE_DIRS} ${OMPL_INCLUDE_DIRS})
+include_directories(SYSTEM ${Boost_INCLUDE_DIRS})
 
 add_subdirectory(ompl_interface)
 
diff --git a/moveit_planners/ompl/ompl_interface/CMakeLists.txt b/moveit_planners/ompl/ompl_interface/CMakeLists.txt
index 90fe140801..e22c868ae4 100644
--- a/moveit_planners/ompl/ompl_interface/CMakeLists.txt
+++ b/moveit_planners/ompl/ompl_interface/CMakeLists.txt
@@ -24,13 +24,9 @@ set_target_properties(moveit_ompl_interface
 
 find_package(OpenMP REQUIRED)
 
-# Used to link in ODE, an OMPL dependency, on macOS
-if(APPLE)
-  target_link_directories(moveit_ompl_interface PUBLIC ${OMPL_LIBRARY_DIRS})
-endif()
-
 ament_target_dependencies(
   moveit_ompl_interface
+  PUBLIC
   moveit_core
   moveit_msgs
   moveit_ros_planning
@@ -38,14 +34,13 @@ ament_target_dependencies(
   pluginlib
   tf2_eigen
   tf2_ros
-  OMPL
   Boost)
 set_target_properties(
   moveit_ompl_interface PROPERTIES COMPILE_FLAGS
                                    "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
 set_target_properties(moveit_ompl_interface PROPERTIES LINK_FLAGS
                                                        "${OpenMP_CXX_FLAGS}")
-
+target_link_libraries(moveit_ompl_interface PUBLIC ompl::ompl)
 add_executable(moveit_generate_state_database
                scripts/generate_state_database.cpp)
 target_link_libraries(moveit_generate_state_database moveit_ompl_interface)
@@ -64,9 +59,9 @@ ament_target_dependencies(
   rclcpp
   pluginlib
   tf2_ros
-  OMPL
   Boost)
-target_link_libraries(moveit_ompl_planner_plugin moveit_ompl_interface)
+target_link_libraries(moveit_ompl_planner_plugin moveit_ompl_interface
+                      ompl::ompl)
 
 install(TARGETS moveit_generate_state_database
         RUNTIME DESTINATION lib/${PROJECT_NAME})
@@ -77,23 +72,24 @@ if(BUILD_TESTING)
   find_package(Eigen3 REQUIRED)
 
   ament_add_gtest(test_state_space test/test_state_space.cpp)
-  ament_target_dependencies(test_state_space moveit_core OMPL Boost Eigen3)
-  target_link_libraries(test_state_space moveit_ompl_interface)
+  ament_target_dependencies(test_state_space moveit_core Boost Eigen3)
+  target_link_libraries(test_state_space moveit_ompl_interface ompl::ompl)
   set_target_properties(test_state_space PROPERTIES LINK_FLAGS
                                                     "${OpenMP_CXX_FLAGS}")
 
   ament_add_gtest(test_state_validity_checker
                   test/test_state_validity_checker.cpp)
-  ament_target_dependencies(test_state_validity_checker moveit_core OMPL Boost
+  ament_target_dependencies(test_state_validity_checker moveit_core Boost
                             Eigen3)
-  target_link_libraries(test_state_validity_checker moveit_ompl_interface)
+  target_link_libraries(test_state_validity_checker moveit_ompl_interface
+                        ompl::ompl)
   set_target_properties(test_state_validity_checker
                         PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
 
   ament_add_gtest(test_planning_context_manager
                   test/test_planning_context_manager.cpp)
   ament_target_dependencies(test_planning_context_manager moveit_core tf2_eigen
-                            OMPL Boost Eigen3)
+                            Boost Eigen3)
   target_link_libraries(test_planning_context_manager moveit_ompl_interface)
 
   # Disabling flaky test TODO (vatanaksoytezer): Uncomment once this is fixed
@@ -104,25 +100,25 @@ if(BUILD_TESTING)
   ament_add_gtest(test_constrained_planning_state_space
                   test/test_constrained_planning_state_space.cpp)
   ament_target_dependencies(test_constrained_planning_state_space moveit_core
-                            OMPL Boost Eigen3)
+                            Boost Eigen3)
   target_link_libraries(test_constrained_planning_state_space
-                        moveit_ompl_interface)
+                        moveit_ompl_interface ompl::ompl)
   set_target_properties(test_constrained_planning_state_space
                         PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
 
   ament_add_gtest(test_constrained_state_validity_checker
                   test/test_constrained_state_validity_checker.cpp)
   ament_target_dependencies(test_constrained_state_validity_checker moveit_core
-                            OMPL Boost Eigen3)
+                            Boost Eigen3)
   target_link_libraries(test_constrained_state_validity_checker
-                        moveit_ompl_interface)
+                        moveit_ompl_interface ompl::ompl)
   set_target_properties(test_constrained_state_validity_checker
                         PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
 
   ament_add_gtest(test_threadsafe_state_storage
                   test/test_threadsafe_state_storage.cpp)
-  ament_target_dependencies(test_threadsafe_state_storage moveit_core OMPL
-                            Boost Eigen3)
+  ament_target_dependencies(test_threadsafe_state_storage moveit_core Boost
+                            Eigen3)
   target_link_libraries(test_threadsafe_state_storage moveit_ompl_interface)
   set_target_properties(test_threadsafe_state_storage
                         PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")