diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index 99b2f07..a6b1a01 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -21,7 +21,7 @@ jobs:
       matrix:
         distro: [humble]
     container:
-      image: ghcr.io/ros-industrial-consortium/scan_n_plan_workshop:${{ matrix.distro }}-master
+      image: ghcr.io/ros-industrial-consortium/scan_n_plan_workshop:${{ matrix.distro }}-4.4
       env:
         CCACHE_DIR: ${{ github.workspace }}/${{ matrix.distro }}/.ccache
         DEBIAN_FRONTEND: noninteractive
diff --git a/docker/docker-compose.yml b/docker/docker-compose.yml
index 5c0049f..ea0fe33 100644
--- a/docker/docker-compose.yml
+++ b/docker/docker-compose.yml
@@ -4,7 +4,7 @@ services:
       context: ..
       dockerfile: docker/Dockerfile
       args:
-        - TAG=humble-4.1
+        - TAG=humble-4.4
     environment:
       DISPLAY: $DISPLAY
       XAUTHORITY: $XAUTHORITY
diff --git a/snp_automate_application/config/snp_automate.btproj b/snp_automate_application/config/snp_automate.btproj
index bed1dfa..c462843 100644
--- a/snp_automate_application/config/snp_automate.btproj
+++ b/snp_automate_application/config/snp_automate.btproj
@@ -10,6 +10,11 @@
         <Condition ID="ButtonMonitor" editable="true">
             <input_port name="button"/>
         </Condition>
+        <Action ID="CombineTrajectories" editable="true">
+            <input_port name="first"/>
+            <input_port name="second"/>
+            <input_port name="output"/>
+        </Action>
         <Action ID="ExecuteMotionPlanService" editable="true">
             <input_port name="service_name" default="execute_motion_plan"/>
             <input_port name="motion_plan" default="{motion_plan}"/>
@@ -38,9 +43,7 @@
         </Action>
         <Action ID="MotionPlanPub" editable="true">
             <input_port name="topic_name"/>
-            <input_port name="approach" default="{approach}"/>
-            <input_port name="process" default="{process}"/>
-            <input_port name="departure" default="{departure}"/>
+            <input_port name="trajectory" default="{trajectory}"/>
         </Action>
         <Action ID="ProcessNode" editable="true"/>
         <Decorator ID="Progress" editable="true">
diff --git a/snp_automate_application/config/snp_automate.xml b/snp_automate_application/config/snp_automate.xml
index 2a700f2..65602ad 100644
--- a/snp_automate_application/config/snp_automate.xml
+++ b/snp_automate_application/config/snp_automate.xml
@@ -58,11 +58,15 @@
                                          approach="{scan_approach}"
                                          process="{scan_process}"
                                          departure="{scan_departure}"/>
+          <CombineTrajectories first="{scan_approach}"
+                               second="{scan_process}"
+                               output="{scan_trajectory}"/>
+          <CombineTrajectories first="{scan_trajectory}"
+                               second="{scan_departure}"
+                               output="{scan_trajectory}"/>
           <MotionPlanPub name="Publish Scan Motion Plan"
                          topic_name="motion_plan"
-                         approach="{scan_approach}"
-                         process="{scan_process}"
-                         departure="{scan_departure}"/>
+                         trajectory="{scan_trajectory}"/>
         </Sequence>
       </Progress>
       <Progress start="20"
@@ -113,11 +117,15 @@
                                      approach="{approach}"
                                      process="{process}"
                                      departure="{departure}"/>
+          <CombineTrajectories first="{approach}"
+                               second="{process}"
+                               output="{trajectory}"/>
+          <CombineTrajectories first="{trajectory}"
+                               second="{departure}"
+                               output="{trajectory}"/>
           <MotionPlanPub name="Publish Process Motion Plan"
                          topic_name="motion_plan"
-                         approach="{approach}"
-                         process="{process}"
-                         departure="{departure}"/>
+                         trajectory="{trajectory}"/>
         </Sequence>
       </Progress>
       <Progress start="80"
@@ -180,6 +188,12 @@
                editable="true">
       <input_port name="button"/>
     </Condition>
+    <Action ID="CombineTrajectories"
+            editable="true">
+      <input_port name="first"/>
+      <input_port name="second"/>
+      <input_port name="output"/>
+    </Action>
     <Action ID="FollowJointTrajectoryAction"
             editable="true">
       <input_port name="action_name"
@@ -221,12 +235,8 @@
     <Action ID="MotionPlanPub"
             editable="true">
       <input_port name="topic_name"/>
-      <input_port name="approach"
-                  default="{approach}"/>
-      <input_port name="process"
-                  default="{process}"/>
-      <input_port name="departure"
-                  default="{departure}"/>
+      <input_port name="trajectory"
+                  default="{trajectory}"/>
     </Action>
     <Decorator ID="Progress"
                editable="true">