diff --git a/tesseract_examples/src/basic_cartesian_example.cpp b/tesseract_examples/src/basic_cartesian_example.cpp
index 7b12ded29c..e4dd30a0ac 100644
--- a/tesseract_examples/src/basic_cartesian_example.cpp
+++ b/tesseract_examples/src/basic_cartesian_example.cpp
@@ -178,7 +178,7 @@ bool BasicCartesianExample::run()
   // Create Task Composer Plugin Factory
   const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
   tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
-  TaskComposerPluginFactory factory(config_path);
+  TaskComposerPluginFactory factory(config_path, *env_->getResourceLocator());
 
   // Create Program
   CompositeInstruction program("cartesian_program", ManipulatorInfo("manipulator", "base_link", "tool0"));
diff --git a/tesseract_examples/src/car_seat_example.cpp b/tesseract_examples/src/car_seat_example.cpp
index 42c5a09fcd..087172cf0b 100644
--- a/tesseract_examples/src/car_seat_example.cpp
+++ b/tesseract_examples/src/car_seat_example.cpp
@@ -250,7 +250,7 @@ bool CarSeatExample::run()
   // Create Task Composer Plugin Factory
   const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
   tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
-  TaskComposerPluginFactory factory(config_path);
+  TaskComposerPluginFactory factory(config_path, *env_->getResourceLocator());
 
   // Get manipulator
   JointGroup::ConstPtr joint_group = env_->getJointGroup("manipulator");
diff --git a/tesseract_examples/src/freespace_hybrid_example.cpp b/tesseract_examples/src/freespace_hybrid_example.cpp
index 6607e9eefc..df40eebfc9 100644
--- a/tesseract_examples/src/freespace_hybrid_example.cpp
+++ b/tesseract_examples/src/freespace_hybrid_example.cpp
@@ -164,7 +164,7 @@ bool FreespaceHybridExample::run()
   // Create Task Composer Plugin Factory
   const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
   tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
-  TaskComposerPluginFactory factory(config_path);
+  TaskComposerPluginFactory factory(config_path, *env_->getResourceLocator());
 
   // Create Program
   CompositeInstruction program("FREESPACE", ManipulatorInfo("manipulator", "base_link", "tool0"));
diff --git a/tesseract_examples/src/freespace_ompl_example.cpp b/tesseract_examples/src/freespace_ompl_example.cpp
index 3f0eff5535..3ac831f745 100644
--- a/tesseract_examples/src/freespace_ompl_example.cpp
+++ b/tesseract_examples/src/freespace_ompl_example.cpp
@@ -150,7 +150,7 @@ bool FreespaceOMPLExample::run()
   // Create Task Composer Plugin Factory
   const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
   tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
-  TaskComposerPluginFactory factory(config_path);
+  TaskComposerPluginFactory factory(config_path, *env_->getResourceLocator());
 
   // Create Program
   CompositeInstruction program("FREESPACE", ManipulatorInfo("manipulator", "base_link", "tool0"));
diff --git a/tesseract_examples/src/glass_upright_example.cpp b/tesseract_examples/src/glass_upright_example.cpp
index 9bc14af4cd..b4c7ce5560 100644
--- a/tesseract_examples/src/glass_upright_example.cpp
+++ b/tesseract_examples/src/glass_upright_example.cpp
@@ -166,7 +166,7 @@ bool GlassUprightExample::run()
   // Create Task Composer Plugin Factory
   const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
   tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
-  TaskComposerPluginFactory factory(config_path);
+  TaskComposerPluginFactory factory(config_path, *env_->getResourceLocator());
 
   // Create Program
   CompositeInstruction program("UPRIGHT", ManipulatorInfo("manipulator", "base_link", "tool0"));
diff --git a/tesseract_examples/src/pick_and_place_example.cpp b/tesseract_examples/src/pick_and_place_example.cpp
index 547158ecf9..91754ce363 100644
--- a/tesseract_examples/src/pick_and_place_example.cpp
+++ b/tesseract_examples/src/pick_and_place_example.cpp
@@ -181,7 +181,7 @@ bool PickAndPlaceExample::run()
   // Create Task Composer Plugin Factory
   const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
   tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
-  TaskComposerPluginFactory factory(config_path);
+  TaskComposerPluginFactory factory(config_path, *env_->getResourceLocator());
 
   // Create Program
   CompositeInstruction pick_program("DEFAULT", ManipulatorInfo("manipulator", LINK_BASE_NAME, LINK_END_EFFECTOR_NAME));
diff --git a/tesseract_examples/src/puzzle_piece_auxillary_axes_example.cpp b/tesseract_examples/src/puzzle_piece_auxillary_axes_example.cpp
index 8df6dcc160..707f234eef 100644
--- a/tesseract_examples/src/puzzle_piece_auxillary_axes_example.cpp
+++ b/tesseract_examples/src/puzzle_piece_auxillary_axes_example.cpp
@@ -200,7 +200,7 @@ bool PuzzlePieceAuxillaryAxesExample::run()
   // Create Task Composer Plugin Factory
   const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
   tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
-  TaskComposerPluginFactory factory(config_path);
+  TaskComposerPluginFactory factory(config_path, *env_->getResourceLocator());
 
   // Create Program
   CompositeInstruction program("DEFAULT", mi);
diff --git a/tesseract_examples/src/puzzle_piece_example.cpp b/tesseract_examples/src/puzzle_piece_example.cpp
index a969e1b923..1847dc73e5 100644
--- a/tesseract_examples/src/puzzle_piece_example.cpp
+++ b/tesseract_examples/src/puzzle_piece_example.cpp
@@ -194,7 +194,7 @@ bool PuzzlePieceExample::run()
   // Create Task Composer Plugin Factory
   const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
   tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
-  TaskComposerPluginFactory factory(config_path);
+  TaskComposerPluginFactory factory(config_path, *env_->getResourceLocator());
 
   // Create Program
   CompositeInstruction program("DEFAULT", mi);
diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_plugin_factory.h b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_plugin_factory.h
index 69ac800335..f49183b030 100644
--- a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_plugin_factory.h
+++ b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_plugin_factory.h
@@ -113,19 +113,19 @@ class TaskComposerPluginFactory
    * @brief Load plugins from yaml node
    * @param config The config node
    */
-  TaskComposerPluginFactory(const YAML::Node& config);
+  TaskComposerPluginFactory(const YAML::Node& config, const tesseract_common::ResourceLocator& locator);
 
   /**
    * @brief Load plugins from file path
    * @param config The config file path
    */
-  TaskComposerPluginFactory(const tesseract_common::fs::path& config);
+  TaskComposerPluginFactory(const tesseract_common::fs::path& config, const tesseract_common::ResourceLocator& locator);
 
   /**
    * @brief Load plugins from string
    * @param config The config string
    */
-  TaskComposerPluginFactory(const std::string& config);
+  TaskComposerPluginFactory(const std::string& config, const tesseract_common::ResourceLocator& locator);
 
   /**
    * @brief Loads plugins from a configuration object
@@ -137,19 +137,19 @@ class TaskComposerPluginFactory
    * @brief Load plugins from yaml node
    * @param config The config node
    */
-  void loadConfig(const YAML::Node& config);
+  void loadConfig(const YAML::Node& config, const tesseract_common::ResourceLocator& locator);
 
   /**
    * @brief Load plugins from file path
    * @param config The config file path
    */
-  void loadConfig(const tesseract_common::fs::path& config);
+  void loadConfig(const tesseract_common::fs::path& config, const tesseract_common::ResourceLocator& locator);
 
   /**
    * @brief Load plugins from string
    * @param config The config string
    */
-  void loadConfig(const std::string& config);
+  void loadConfig(const std::string& config, const tesseract_common::ResourceLocator& locator);
 
   /**
    * @brief Add location for the plugin loader to search
@@ -307,6 +307,8 @@ class TaskComposerPluginFactory
 private:
   struct Implementation;
   std::unique_ptr<Implementation> impl_;
+
+  void loadConfig(const YAML::Node& config);
 };
 }  // namespace tesseract_planning
 #endif  // TESSERACT_TASK_COMPOSER_TASK_COMPOSER_FACTORY_H
diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_server.h b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_server.h
index 6db07981b3..1d7b680a80 100644
--- a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_server.h
+++ b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_server.h
@@ -32,6 +32,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <map>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
+#include <tesseract_common/fwd.h>
 #include <tesseract_common/filesystem.h>
 
 namespace YAML
@@ -62,19 +63,19 @@ class TaskComposerServer
    * @brief Load plugins from yaml node
    * @param config The config node
    */
-  void loadConfig(const YAML::Node& config);
+  void loadConfig(const YAML::Node& config, const tesseract_common::ResourceLocator& locator);
 
   /**
    * @brief Load plugins from file path
    * @param config The config file path
    */
-  void loadConfig(const tesseract_common::fs::path& config);
+  void loadConfig(const tesseract_common::fs::path& config, const tesseract_common::ResourceLocator& locator);
 
   /**
    * @brief Load plugins from string
    * @param config The config string
    */
-  void loadConfig(const std::string& config);
+  void loadConfig(const std::string& config, const tesseract_common::ResourceLocator& locator);
 
   /**
    * @brief Add a executors (thread pool)
diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/test_suite/task_composer_executor_unit.hpp b/tesseract_task_composer/core/include/tesseract_task_composer/core/test_suite/task_composer_executor_unit.hpp
index 76d53179c3..7e4b2db3de 100644
--- a/tesseract_task_composer/core/include/tesseract_task_composer/core/test_suite/task_composer_executor_unit.hpp
+++ b/tesseract_task_composer/core/include/tesseract_task_composer/core/test_suite/task_composer_executor_unit.hpp
@@ -40,6 +40,9 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_task_composer/core/task_composer_plugin_factory.h>
 #include <tesseract_task_composer/core/nodes/done_task.h>
 
+#include <tesseract_common/resource_locator.h>
+#include <tesseract_common/yaml_utils.h>
+
 namespace tesseract_planning::test_suite
 {
 template <typename T>
@@ -78,6 +81,7 @@ void runTaskComposerExecutorTest()
     test_suite::runSerializationPointerTest(executor, "TaskComposerExecutorTests");
   }
 
+  tesseract_common::GeneralResourceLocator locator;
   std::string str = R"(task_composer_plugins:
                          search_paths:
                            - /usr/local/lib
@@ -154,7 +158,7 @@ void runTaskComposerExecutorTest()
                                      destinations: [AbortTask, DoneTask]
                                  terminals: [AbortTask, DoneTask])";
 
-  TaskComposerPluginFactory factory(str);
+  TaskComposerPluginFactory factory(str, locator);
 
   {  // Pipeline
     std::string str2 = R"(config:
diff --git a/tesseract_task_composer/core/src/task_composer_plugin_factory.cpp b/tesseract_task_composer/core/src/task_composer_plugin_factory.cpp
index 27773ad2a6..530a4402bd 100644
--- a/tesseract_task_composer/core/src/task_composer_plugin_factory.cpp
+++ b/tesseract_task_composer/core/src/task_composer_plugin_factory.cpp
@@ -30,6 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <utility>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_common/plugin_loader.hpp>
 #include <tesseract_common/yaml_utils.h>
 #include <tesseract_common/yaml_extenstions.h>
@@ -73,20 +74,25 @@ TaskComposerPluginFactory::TaskComposerPluginFactory(const tesseract_common::Tas
   loadConfig(config);
 }
 
-TaskComposerPluginFactory::TaskComposerPluginFactory(const YAML::Node& config) : TaskComposerPluginFactory()
+TaskComposerPluginFactory::TaskComposerPluginFactory(const YAML::Node& config,
+                                                     const tesseract_common::ResourceLocator& locator)
+  : TaskComposerPluginFactory()
 {
-  loadConfig(config);
+  loadConfig(config, locator);
 }
 
-TaskComposerPluginFactory::TaskComposerPluginFactory(const tesseract_common::fs::path& config)
+TaskComposerPluginFactory::TaskComposerPluginFactory(const tesseract_common::fs::path& config,
+                                                     const tesseract_common::ResourceLocator& locator)
   : TaskComposerPluginFactory()
 {
-  loadConfig(config);
+  loadConfig(config, locator);
 }
 
-TaskComposerPluginFactory::TaskComposerPluginFactory(const std::string& config) : TaskComposerPluginFactory()
+TaskComposerPluginFactory::TaskComposerPluginFactory(const std::string& config,
+                                                     const tesseract_common::ResourceLocator& locator)
+  : TaskComposerPluginFactory()
 {
-  loadConfig(config);
+  loadConfig(config, locator);
 }
 
 // This prevents it from being defined inline.
@@ -120,12 +126,21 @@ void TaskComposerPluginFactory::loadConfig(const YAML::Node& config)
   }
 }
 
-void TaskComposerPluginFactory::loadConfig(const tesseract_common::fs::path& config)
+void TaskComposerPluginFactory::loadConfig(const YAML::Node& config, const tesseract_common::ResourceLocator& locator)
 {
-  loadConfig(YAML::LoadFile(config.string()));
+  loadConfig(tesseract_common::processYamlIncludeDirective(config, locator));
 }
 
-void TaskComposerPluginFactory::loadConfig(const std::string& config) { loadConfig(YAML::Load(config)); }
+void TaskComposerPluginFactory::loadConfig(const tesseract_common::fs::path& config,
+                                           const tesseract_common::ResourceLocator& locator)
+{
+  loadConfig(tesseract_common::loadYamlFile(config.string(), locator));
+}
+
+void TaskComposerPluginFactory::loadConfig(const std::string& config, const tesseract_common::ResourceLocator& locator)
+{
+  loadConfig(tesseract_common::loadYamlString(config, locator));
+}
 
 void TaskComposerPluginFactory::addSearchPath(const std::string& path)
 {
diff --git a/tesseract_task_composer/core/src/task_composer_server.cpp b/tesseract_task_composer/core/src/task_composer_server.cpp
index a414865491..67dd471177 100644
--- a/tesseract_task_composer/core/src/task_composer_server.cpp
+++ b/tesseract_task_composer/core/src/task_composer_server.cpp
@@ -36,26 +36,28 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_task_composer/core/task_composer_node.h>
 #include <tesseract_task_composer/core/task_composer_data_storage.h>
 #include <tesseract_task_composer/core/task_composer_plugin_factory.h>
+#include <tesseract_common/resource_locator.h>
 
 namespace tesseract_planning
 {
 TaskComposerServer::TaskComposerServer() : plugin_factory_(std::make_shared<TaskComposerPluginFactory>()) {}
 
-void TaskComposerServer::loadConfig(const YAML::Node& config)
+void TaskComposerServer::loadConfig(const YAML::Node& config, const tesseract_common::ResourceLocator& locator)
 {
-  plugin_factory_->loadConfig(config);
+  plugin_factory_->loadConfig(config, locator);
   loadPlugins();
 }
 
-void TaskComposerServer::loadConfig(const tesseract_common::fs::path& config)
+void TaskComposerServer::loadConfig(const tesseract_common::fs::path& config,
+                                    const tesseract_common::ResourceLocator& locator)
 {
-  plugin_factory_->loadConfig(config);
+  plugin_factory_->loadConfig(config, locator);
   loadPlugins();
 }
 
-void TaskComposerServer::loadConfig(const std::string& config)
+void TaskComposerServer::loadConfig(const std::string& config, const tesseract_common::ResourceLocator& locator)
 {
-  plugin_factory_->loadConfig(config);
+  plugin_factory_->loadConfig(config, locator);
   loadPlugins();
 }
 
diff --git a/tesseract_task_composer/examples/task_composer_example.cpp b/tesseract_task_composer/examples/task_composer_example.cpp
index 454cb593d4..18ad703305 100644
--- a/tesseract_task_composer/examples/task_composer_example.cpp
+++ b/tesseract_task_composer/examples/task_composer_example.cpp
@@ -1,6 +1,7 @@
 
 #include <iostream>
 #include <tesseract_common/utils.h>
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_task_composer/core/task_composer_context.h>
 #include <tesseract_task_composer/core/task_composer_future.h>
 #include <tesseract_task_composer/core/task_composer_node_info.h>
@@ -124,8 +125,9 @@ int main()
   task_composer.addEdges(task2_id, { task3_id });
 
   const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
+  tesseract_common::GeneralResourceLocator locator;
   tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
-  TaskComposerPluginFactory factory(config_path);
+  TaskComposerPluginFactory factory(config_path, locator);
 
   auto task_executor = factory.createTaskComposerExecutor("TaskflowExecutor");
   TaskComposerFuture::UPtr future = task_executor->run(task_composer, std::move(task_data));
diff --git a/tesseract_task_composer/examples/task_composer_raster_example.cpp b/tesseract_task_composer/examples/task_composer_raster_example.cpp
index 1302fc9c93..323e4065ec 100644
--- a/tesseract_task_composer/examples/task_composer_raster_example.cpp
+++ b/tesseract_task_composer/examples/task_composer_raster_example.cpp
@@ -52,7 +52,7 @@ int main()
   // Get plugin factory
   const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
   tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
-  TaskComposerPluginFactory factory(config_path);
+  TaskComposerPluginFactory factory(config_path, *locator);
 
   // Create raster task
   TaskComposerNode::UPtr task = factory.createTaskComposerNode("RasterFtPipeline");
diff --git a/tesseract_task_composer/examples/task_composer_trajopt_example.cpp b/tesseract_task_composer/examples/task_composer_trajopt_example.cpp
index 764eb0148a..9e5c1a2eae 100644
--- a/tesseract_task_composer/examples/task_composer_trajopt_example.cpp
+++ b/tesseract_task_composer/examples/task_composer_trajopt_example.cpp
@@ -16,6 +16,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_common/types.h>
 #include <tesseract_common/utils.h>
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_state_solver/state_solver.h>
 #include <tesseract_environment/environment.h>
 #include <tesseract_command_language/composite_instruction.h>
@@ -53,7 +54,7 @@ int main()
   // Get plugin factory
   const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
   tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
-  TaskComposerPluginFactory factory(config_path);
+  TaskComposerPluginFactory factory(config_path, *locator);
 
   // Create trajopt pipeline
   TaskComposerNode::UPtr task = factory.createTaskComposerNode("TrajOptPipeline");
diff --git a/tesseract_task_composer/test/tesseract_task_composer_core_unit.cpp b/tesseract_task_composer/test/tesseract_task_composer_core_unit.cpp
index e4dd7d2411..179dae4a39 100644
--- a/tesseract_task_composer/test/tesseract_task_composer_core_unit.cpp
+++ b/tesseract_task_composer/test/tesseract_task_composer_core_unit.cpp
@@ -29,6 +29,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_task_composer/core/nodes/sync_task.h>
 #include <tesseract_task_composer/core/test_suite/test_task.h>
 
+#include <tesseract_common/resource_locator.h>
+
 TESSERACT_ANY_EXPORT(tesseract_common::JointState, TesseractCommonJointState)
 
 using namespace tesseract_planning;
@@ -401,6 +403,7 @@ TEST(TesseractTaskComposerCoreUnit, TaskComposerTaskTests)  // NOLINT
 
 TEST(TesseractTaskComposerCoreUnit, TaskComposerPipelineTests)  // NOLINT
 {
+  tesseract_common::GeneralResourceLocator locator;
   std::string name = "TaskComposerPipelineTests";
   std::string name1 = "TaskComposerPipelineTests1";
   std::string name2 = "TaskComposerPipelineTests2";
@@ -928,7 +931,7 @@ TEST(TesseractTaskComposerCoreUnit, TaskComposerPipelineTests)  // NOLINT
                                        destinations: [DoneTask]
                                    terminals: [DoneTask])";
 
-    TaskComposerPluginFactory factory(str);
+    TaskComposerPluginFactory factory(str, locator);
 
     std::string str2 = R"(config:
                             conditional: true
@@ -1326,6 +1329,7 @@ TEST(TesseractTaskComposerCoreUnit, TaskComposerPipelineTests)  // NOLINT
 // Graph is mostly tested through the Pipeline tests becasue they can be run
 TEST(TesseractTaskComposerCoreUnit, TaskComposerGraphTests)  // NOLINT
 {
+  tesseract_common::GeneralResourceLocator locator;
   std::string name{ "TaskComposerGraphTests" };
   auto graph = std::make_unique<TaskComposerGraph>(name);
   EXPECT_EQ(graph->getName(), name);
@@ -1412,7 +1416,7 @@ TEST(TesseractTaskComposerCoreUnit, TaskComposerGraphTests)  // NOLINT
                                        destinations: [DoneTask]
                                    terminals: [DoneTask])";
 
-    TaskComposerPluginFactory factory(str);
+    TaskComposerPluginFactory factory(str, locator);
 
     std::string str2 = R"(config:
                             conditional: true
@@ -1464,7 +1468,7 @@ TEST(TesseractTaskComposerCoreUnit, TaskComposerGraphTests)  // NOLINT
                                        destinations: [DoneTask]
                                    terminals: [DoneTask])";
 
-    TaskComposerPluginFactory factory(str);
+    TaskComposerPluginFactory factory(str, locator);
 
     std::string str2 = R"(config:
                             conditional: true
@@ -1527,7 +1531,7 @@ TEST(TesseractTaskComposerCoreUnit, TaskComposerGraphTests)  // NOLINT
                                        destinations: [ErrorTask, DoneTask]
                                    terminals: [ErrorTask, DoneTask])";
 
-    TaskComposerPluginFactory factory(str);
+    TaskComposerPluginFactory factory(str, locator);
 
     std::string str2 = R"(config:
                             conditional: true
@@ -1594,7 +1598,7 @@ TEST(TesseractTaskComposerCoreUnit, TaskComposerGraphTests)  // NOLINT
                                        destinations: [DuplicateTask]
                                    terminals: [ErrorTask, DoneTask])";
 
-    TaskComposerPluginFactory factory(str);
+    TaskComposerPluginFactory factory(str, locator);
 
     std::string str2 = R"(config:
                             conditional: true
@@ -2216,6 +2220,7 @@ TEST(TesseractTaskComposerCoreUnit, TaskComposerHasDataStorageEntryTaskTests)  /
 
 TEST(TesseractTaskComposerCoreUnit, TaskComposerServerTests)  // NOLINT
 {
+  tesseract_common::GeneralResourceLocator locator;
   std::string str = R"(task_composer_plugins:
                          search_paths:
                            - /usr/local/lib
@@ -2354,14 +2359,14 @@ TEST(TesseractTaskComposerCoreUnit, TaskComposerServerTests)  // NOLINT
 
   {  // String Constructor
     TaskComposerServer server;
-    server.loadConfig(str);
+    server.loadConfig(str, locator);
     runTest(server);
   }
 
   {  // YAML::Node Constructor
     TaskComposerServer server;
     YAML::Node config = YAML::Load(str);
-    server.loadConfig(config);
+    server.loadConfig(config, locator);
     runTest(server);
   }
 
@@ -2375,13 +2380,14 @@ TEST(TesseractTaskComposerCoreUnit, TaskComposerServerTests)  // NOLINT
     }
 
     TaskComposerServer server;
-    server.loadConfig(file_path);
+    server.loadConfig(file_path, locator);
     runTest(server);
   }
 }
 
 TEST(TesseractTaskComposerCoreUnit, TaskComposerPipelineWithGraphChild)  // NOLINT
 {
+  tesseract_common::GeneralResourceLocator locator;
   std::string str = R"(task_composer_plugins:
                          search_paths:
                            - /usr/local/lib
@@ -2460,7 +2466,7 @@ TEST(TesseractTaskComposerCoreUnit, TaskComposerPipelineWithGraphChild)  // NOLI
                                  terminals: [AbortTask, DoneTask])";
 
   TaskComposerServer server;
-  server.loadConfig(str);
+  server.loadConfig(str, locator);
 
   // Run method using TaskComposerContext
   const auto& pipeline = server.getTask("TestPipeline");
diff --git a/tesseract_task_composer/test/tesseract_task_composer_planning_unit.cpp b/tesseract_task_composer/test/tesseract_task_composer_planning_unit.cpp
index 2f3f6f1f4e..a079234d5c 100644
--- a/tesseract_task_composer/test/tesseract_task_composer_planning_unit.cpp
+++ b/tesseract_task_composer/test/tesseract_task_composer_planning_unit.cpp
@@ -2729,9 +2729,10 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerMotionPlannerTaskTests)  /
 
 TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests)  // NOLINT
 {
+  tesseract_common::GeneralResourceLocator locator;
   tesseract_common::fs::path config_path(
       locator_->locateResource("package://tesseract_task_composer/config/task_composer_plugins.yaml")->getFilePath());
-  TaskComposerPluginFactory factory(config_path);
+  TaskComposerPluginFactory factory(config_path, locator);
 
   {  // Construction
     RasterMotionTask task;
@@ -3309,9 +3310,10 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests)  //
 
 TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterOnlyMotionTaskTests)  // NOLINT
 {
+  tesseract_common::GeneralResourceLocator locator;
   tesseract_common::fs::path config_path(
       locator_->locateResource("package://tesseract_task_composer/config/task_composer_plugins.yaml")->getFilePath());
-  TaskComposerPluginFactory factory(config_path);
+  TaskComposerPluginFactory factory(config_path, locator);
 
   {  // Construction
     RasterOnlyMotionTask task;
diff --git a/tesseract_task_composer/test/tesseract_task_composer_plugin_factories_unit.cpp b/tesseract_task_composer/test/tesseract_task_composer_plugin_factories_unit.cpp
index 43a9846cb1..e1c04ba542 100644
--- a/tesseract_task_composer/test/tesseract_task_composer_plugin_factories_unit.cpp
+++ b/tesseract_task_composer/test/tesseract_task_composer_plugin_factories_unit.cpp
@@ -33,6 +33,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_task_composer/core/task_composer_plugin_factory.h>
 #include <tesseract_common/utils.h>
 #include <tesseract_common/types.h>
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_common/yaml_utils.h>
 #include <tesseract_common/yaml_extenstions.h>
 
@@ -114,6 +115,7 @@ void runTaskComposerFactoryTest(TaskComposerPluginFactory& factory, YAML::Node p
 
 TEST(TesseractTaskComposerFactoryUnit, LoadAndExportPluginTest)  // NOLINT
 {
+  tesseract_common::GeneralResourceLocator locator;
   {  // File Path Construction
 #ifdef TESSERACT_TASK_COMPOSER_HAS_TRAJOPT_IFOPT
     tesseract_common::fs::path config_path(std::string(TESSERACT_TASK_COMPOSER_DIR) + "/config/"
@@ -124,13 +126,13 @@ TEST(TesseractTaskComposerFactoryUnit, LoadAndExportPluginTest)  // NOLINT
                                                                                       "trajopt_"
                                                                                       "ifopt.yaml");
 #endif
-    TaskComposerPluginFactory factory(config_path);
-    YAML::Node plugin_config = YAML::LoadFile(config_path.string());
+    TaskComposerPluginFactory factory(config_path, locator);
+    YAML::Node plugin_config = tesseract_common::loadYamlFile(config_path.string(), locator);
     runTaskComposerFactoryTest(factory, plugin_config);
 
     auto export_config_path = tesseract_common::fs::path(tesseract_common::getTempPath()) / "task_composer_plugins_"
                                                                                             "export.yaml";
-    TaskComposerPluginFactory check_factory(export_config_path);
+    TaskComposerPluginFactory check_factory(export_config_path, locator);
     runTaskComposerFactoryTest(check_factory, plugin_config);
   }
 
@@ -145,13 +147,13 @@ TEST(TesseractTaskComposerFactoryUnit, LoadAndExportPluginTest)  // NOLINT
                                                                                       "ifopt.yaml");
 #endif
 
-    TaskComposerPluginFactory factory(tesseract_common::fileToString(config_path));
+    TaskComposerPluginFactory factory(tesseract_common::fileToString(config_path), locator);
     YAML::Node plugin_config = YAML::LoadFile(config_path.string());
     runTaskComposerFactoryTest(factory, plugin_config);
 
     auto export_config_path = tesseract_common::fs::path(tesseract_common::getTempPath()) / "task_composer_plugins_"
                                                                                             "export.yaml";
-    TaskComposerPluginFactory check_factory(export_config_path);
+    TaskComposerPluginFactory check_factory(export_config_path, locator);
     runTaskComposerFactoryTest(check_factory, plugin_config);
   }
 
@@ -167,12 +169,12 @@ TEST(TesseractTaskComposerFactoryUnit, LoadAndExportPluginTest)  // NOLINT
 #endif
 
     YAML::Node plugin_config = YAML::LoadFile(config_path.string());
-    TaskComposerPluginFactory factory(plugin_config);
+    TaskComposerPluginFactory factory(plugin_config, locator);
     runTaskComposerFactoryTest(factory, plugin_config);
 
     auto export_config_path = tesseract_common::fs::path(tesseract_common::getTempPath()) / "task_composer_plugins_"
                                                                                             "export.yaml";
-    TaskComposerPluginFactory check_factory(export_config_path);
+    TaskComposerPluginFactory check_factory(export_config_path, locator);
     runTaskComposerFactoryTest(check_factory, plugin_config);
   }
 
@@ -205,7 +207,7 @@ TEST(TesseractTaskComposerFactoryUnit, LoadAndExportPluginTest)  // NOLINT
 
     auto export_config_path = tesseract_common::fs::path(tesseract_common::getTempPath()) / "task_composer_plugins_"
                                                                                             "export.yaml";
-    TaskComposerPluginFactory check_factory(export_config_path);
+    TaskComposerPluginFactory check_factory(export_config_path, locator);
     runTaskComposerFactoryTest(check_factory, plugin_config);
   }
 }