diff --git a/.github/workflows/conda.yml b/.github/workflows/conda.yml
new file mode 100644
index 00000000..56204d7e
--- /dev/null
+++ b/.github/workflows/conda.yml
@@ -0,0 +1,81 @@
+name: Conda
+
+on:
+  push:
+    branches:
+      - master
+      - 'dev**'
+  pull_request:
+  release:
+    types:
+      - released
+
+jobs:
+  conda-win:
+    runs-on: windows-2019
+    defaults:
+      run:
+        shell: powershell
+    steps:
+    - uses: actions/checkout@v3
+      with:
+       path: workspace/src/trajopt
+    - name: install-depends
+      shell: cmd
+      run: |
+        python -m pip install vcstool -q
+    - name: vcs import
+      run: >
+        vcs import --input "${{ github.workspace }}/workspace/src/trajopt/.github/workflows/windows_dependencies.repos" workspace/src/
+    - uses: conda-incubator/setup-miniconda@v3
+      with:
+        channel-priority: strict
+        environment-file: workspace/src/trajopt/.github/workflows/conda/environment.yml       
+        use-mamba: true
+        auto-update-conda: true
+        activate-environment: tesseract-build
+    - name: build and test
+      run: |
+        conda info
+        conda list
+        mkdir conda
+        xcopy /E workspace\src\trajopt\.github\workflows\conda conda
+        cd conda
+        New-Item -Name conda-forge.yml -ItemType File
+        conda smithy regenerate
+        
+        conda mambabuild -m .ci_support/win_64_.yaml .
+
+  conda-linux:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        shell: bash -el {0}
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        path: workspace/src/trajopt
+    - name: install-depends
+      run: |
+        python -m pip install vcstool -q
+    - name: vcs import
+      run: >
+        vcs import --input "${{ github.workspace }}/workspace/src/trajopt/.github/workflows/windows_dependencies.repos" workspace/src/
+    - uses: conda-incubator/setup-miniconda@v3
+      with:
+        channel-priority: strict
+        environment-file: workspace/src/trajopt/.github/workflows/conda/environment.yml
+        use-mamba: true
+        auto-update-conda: true
+        activate-environment: tesseract-build
+    - name: build and test
+      run: |
+        conda info
+        conda list
+
+        cp -r workspace/src/trajopt/.github/workflows/conda ./conda
+        cd conda
+        touch conda-forge.yml
+        conda smithy regenerate
+        
+        conda mambabuild -m .ci_support/linux_64_.yaml .
diff --git a/.github/workflows/conda/environment.yml b/.github/workflows/conda/environment.yml
new file mode 100644
index 00000000..909dc29d
--- /dev/null
+++ b/.github/workflows/conda/environment.yml
@@ -0,0 +1,6 @@
+name: tesseract-build
+channels:
+  - conda-forge
+dependencies:
+  - boa
+  - conda-smithy
\ No newline at end of file
diff --git a/.github/workflows/conda/recipe/activate.bat b/.github/workflows/conda/recipe/activate.bat
new file mode 100644
index 00000000..0e01a3a5
--- /dev/null
+++ b/.github/workflows/conda/recipe/activate.bat
@@ -0,0 +1,5 @@
+@if not defined CONDA_PREFIX goto:eof
+
+@call "%CONDA_PREFIX%\opt\tesseract_robotics\setup.bat"
+
+@set TESSERACT_PYTHON_DLL_PATH=%CONDA_PREFIX%\opt\tesseract_robotics\bin
\ No newline at end of file
diff --git a/.github/workflows/conda/recipe/activate.sh b/.github/workflows/conda/recipe/activate.sh
new file mode 100644
index 00000000..b4f02422
--- /dev/null
+++ b/.github/workflows/conda/recipe/activate.sh
@@ -0,0 +1 @@
+source "${CONDA_PREFIX}/opt/tesseract_robotics/setup.sh"
\ No newline at end of file
diff --git a/.github/workflows/conda/recipe/bld.bat b/.github/workflows/conda/recipe/bld.bat
new file mode 100644
index 00000000..1ca24598
--- /dev/null
+++ b/.github/workflows/conda/recipe/bld.bat
@@ -0,0 +1,45 @@
+set CXXFLAGS=%CXXFLAGS% -DEIGEN_DONT_ALIGN=1 -DEIGEN_DONT_VECTORIZE=1
+set CXXFLAGS=%CXXFLAGS% /std:c++17
+
+colcon build --merge-install --install-base="%PREFIX%\opt\tesseract_robotics" ^
+   --event-handlers console_cohesion+ desktop_notification- status- terminal_title- ^
+   --packages-ignore gtest osqp osqp_eigen tesseract_examples trajopt_ifopt trajopt_sqp ^
+   --cmake-args -GNinja -DCMAKE_BUILD_TYPE=Release ^
+   -DCMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING="/MD /O2 /Ob0 /Zi /DNDEBUG" ^
+   -DCMAKE_RELWITHDEBINFO_POSTFIX="" ^
+   -DBUILD_SHARED_LIBS=ON ^
+   -DUSE_MSVC_RUNTIME_LIBRARY_DLL=ON ^
+   -DBUILD_IPOPT=OFF ^
+   -DBUILD_SNOPT=OFF ^
+   -DCMAKE_PREFIX_PATH:PATH="%LIBRARY_PREFIX%" ^
+   -DTESSERACT_ENABLE_CLANG_TIDY=OFF ^
+   -DTESSERACT_ENABLE_CODE_COVERAGE=OFF ^
+   -DPYTHON_EXECUTABLE="%PREFIX%\python.exe" ^
+   -DTESSERACT_ENABLE_EXAMPLES=OFF ^
+   -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF ^
+   -DTESSERACT_ENABLE_TESTING=OFF ^
+   -DTRAJOPT_ENABLE_TESTING=ON
+
+if %errorlevel% neq 0 exit /b %errorlevel%
+
+set TESSERACT_RESOURCE_PATH=%PREFIX%\opt\tesseract_robotics\share
+
+colcon test --event-handlers console_direct+ desktop_notification- status- terminal_title- ^
+   --return-code-on-test-failure ^
+   --packages-ignore gtest osqp osqp_eigen tesseract_examples trajopt_ifopt trajopt_sqp tesseract_common ^
+   tesseract_collision tesseract_environment tesseract_geometry tesseract_kinematics tesseract_scene_graph ^
+   tesseract_srdf tesseract_state_solver tesseract_support tesseract_urdf tesseract_visualization ^
+   --merge-install --install-base="%PREFIX%\opt\tesseract_robotics"
+
+if %errorlevel% neq 0 exit /b %errorlevel%
+
+setlocal EnableDelayedExpansion
+
+:: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
+:: This will allow them to be run on environment activation.
+for %%F in (activate deactivate) DO (
+    if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
+    copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
+)
+
+if %errorlevel% neq 0 exit /b %errorlevel%
\ No newline at end of file
diff --git a/.github/workflows/conda/recipe/build.sh b/.github/workflows/conda/recipe/build.sh
new file mode 100644
index 00000000..28dbdc0d
--- /dev/null
+++ b/.github/workflows/conda/recipe/build.sh
@@ -0,0 +1,33 @@
+set -e
+
+ln -s $BUILD_PREFIX/bin/x86_64-conda-linux-gnu-gcc $BUILD_PREFIX/bin/gcc
+
+colcon build --merge-install --install-base="$PREFIX/opt/tesseract_robotics" \
+   --event-handlers console_cohesion+  \
+   --packages-ignore gtest osqp osqp_eigen tesseract_examples trajopt_ifopt trajopt_sqp \
+   --cmake-args -DCMAKE_BUILD_TYPE=Release \
+   -DBUILD_SHARED_LIBS=ON \
+   -DBUILD_IPOPT=OFF \
+   -DBUILD_SNOPT=OFF \
+   -DCMAKE_PREFIX_PATH:PATH="$PREFIX" \
+   -DTESSERACT_ENABLE_CLANG_TIDY=OFF \
+   -DTESSERACT_ENABLE_CODE_COVERAGE=OFF \
+   -DTESSERACT_ENABLE_EXAMPLES=OFF \
+   -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF \
+   -DSETUPTOOLS_DEB_LAYOUT=OFF \
+   -DTESSERACT_ENABLE_TESTING=ON \
+   -DTRAJOPT_ENABLE_TESTING=ON
+
+export TESSERACT_RESOURCE_PATH="$PREFIX/opt/tesseract_robotics/share"
+
+colcon test --event-handlers console_direct+  \
+   --return-code-on-test-failure \
+   --packages-ignore gtest osqp osqp_eigen tesseract_examples trajopt_ifopt trajopt_sqp tesseract_common \
+   --merge-install --install-base="$PREFIX/opt/tesseract_robotics" 
+
+
+for CHANGE in "activate" "deactivate"
+do
+    mkdir -p "${PREFIX}/etc/conda/${CHANGE}.d"
+    cp "${RECIPE_DIR}/${CHANGE}.sh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.sh"
+done
\ No newline at end of file
diff --git a/.github/workflows/conda/recipe/deactivate.bat b/.github/workflows/conda/recipe/deactivate.bat
new file mode 100644
index 00000000..e69de29b
diff --git a/.github/workflows/conda/recipe/deactivate.sh b/.github/workflows/conda/recipe/deactivate.sh
new file mode 100644
index 00000000..e69de29b
diff --git a/.github/workflows/conda/recipe/meta.yaml b/.github/workflows/conda/recipe/meta.yaml
new file mode 100644
index 00000000..e357739b
--- /dev/null
+++ b/.github/workflows/conda/recipe/meta.yaml
@@ -0,0 +1,77 @@
+package:
+    name: trajopt
+    version: "0.1.0"
+
+source:
+    path: ../../workspace
+
+requirements:
+    build:
+      - {{ compiler('c') }}
+      - {{ compiler('cxx') }}
+      - gtest
+      - gmock
+      - cmake
+      - ninja # [win]
+      - make # [linux]
+      - pkg-config
+      - colcon-common-extensions 
+      - lcov
+      - {{ cdt('mesa-libgl-devel') }}    # [linux]
+      - {{ cdt('mesa-dri-drivers') }}    # [linux]
+      - git
+    host:
+      - boost-cpp 
+      - eigen 
+      - tinyxml2
+      - console_bridge
+      - assimp
+      - urdfdom
+      - fcl
+      - octomap 
+      - orocos-kdl 
+      - pcl
+      - gtest
+      - gmock
+      - pkg-config 
+      - xz
+      - flann
+      - jsoncpp
+      - yaml-cpp
+      - bullet-cpp
+      - xorg-libx11    # [unix]
+      - xorg-libxext   # [unix]
+      - blas
+      - osqp
+      - qpoases
+    run:
+      - boost-cpp
+      - eigen 
+      - tinyxml2
+      - console_bridge
+      - assimp
+      - urdfdom
+      - fcl
+      - octomap 
+      - orocos-kdl 
+      - pcl
+      - gtest
+      - gmock
+      - xz
+      - jsoncpp
+      - taskflow 
+      - yaml-cpp
+      - bullet-cpp
+      - xorg-libx11    # [unix]
+      - xorg-libxext   # [unix]
+      - blas
+      - osqp
+      - qpoases
+
+build:
+  skip: true # [py<37]
+  number: 0
+
+about:
+  home: https://github.com/ros-industrial-consortium/trajopt
+  summary: Trajopt motion planner
\ No newline at end of file
diff --git a/trajopt/test/benchmarks/CMakeLists.txt b/trajopt/test/benchmarks/CMakeLists.txt
index cdd50d30..1d2948b8 100644
--- a/trajopt/test/benchmarks/CMakeLists.txt
+++ b/trajopt/test/benchmarks/CMakeLists.txt
@@ -10,7 +10,7 @@ macro(add_benchmark benchmark_name benchmark_file)
   target_link_libraries(
     ${benchmark_name}
     ${PROJECT_NAME}
-    osqp::osqpstatic
+    osqp::osqp
     benchmark::benchmark)
   target_include_directories(${benchmark_name} PRIVATE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>")
   add_dependencies(${benchmark_name} ${PROJECT_NAME})
diff --git a/trajopt_sco/CMakeLists.txt b/trajopt_sco/CMakeLists.txt
index 79ccdd19..c8a257cf 100644
--- a/trajopt_sco/CMakeLists.txt
+++ b/trajopt_sco/CMakeLists.txt
@@ -99,7 +99,7 @@ if(HAVE_BPMPD)
                                                      HAVE_BPMPD=ON)
 endif()
 if(osqp_FOUND)
-  target_link_libraries(${PROJECT_NAME} PRIVATE osqp::osqpstatic)
+  target_link_libraries(${PROJECT_NAME} PRIVATE osqp::osqp)
   target_compile_definitions(${PROJECT_NAME} PRIVATE HAVE_OSQP=ON)
 endif()
 if(qpOASES_FOUND AND TRAJOPT_BUILD_qpOASES)
diff --git a/trajopt_sco/src/bpmpd_interface.cpp b/trajopt_sco/src/bpmpd_interface.cpp
index ab48e7f4..c641307c 100644
--- a/trajopt_sco/src/bpmpd_interface.cpp
+++ b/trajopt_sco/src/bpmpd_interface.cpp
@@ -1,6 +1,8 @@
 #include <trajopt_common/macros.h>
 TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <cmath>
+#include <fstream>
+#include <csignal>
 #include <array>
 #include <mutex>
 #include <trajopt_sco/bpmpd_io.hpp>
diff --git a/trajopt_sco/src/solver_interface.cpp b/trajopt_sco/src/solver_interface.cpp
index 5574b6c5..def65064 100644
--- a/trajopt_sco/src/solver_interface.cpp
+++ b/trajopt_sco/src/solver_interface.cpp
@@ -288,6 +288,7 @@ std::vector<ModelType> availableSolvers()
 
 Model::Ptr createModel(ModelType model_type, const ModelConfig::ConstPtr& model_config)
 {
+  UNUSED(model_config);
 #ifdef HAVE_GUROBI
   extern Model::Ptr createGurobiModel();
 #endif
diff --git a/trajopt_sco/test/CMakeLists.txt b/trajopt_sco/test/CMakeLists.txt
index 3584393a..8ef01711 100644
--- a/trajopt_sco/test/CMakeLists.txt
+++ b/trajopt_sco/test/CMakeLists.txt
@@ -46,7 +46,7 @@ target_link_libraries(
   GTest::Main
   ${PROJECT_NAME})
 if(osqp_FOUND)
-  target_link_libraries(${PROJECT_NAME}-test osqp::osqpstatic)
+  target_link_libraries(${PROJECT_NAME}-test osqp::osqp)
 endif()
 target_compile_options(${PROJECT_NAME}-test PRIVATE ${TRAJOPT_COMPILE_OPTIONS_PRIVATE}
                                                     ${TRAJOPT_COMPILE_OPTIONS_PUBLIC})