diff --git a/.github/workflows/test_pallet_patcher.yml b/.github/workflows/test_pallet_patcher.yml
new file mode 100644
index 0000000..c8029f8
--- /dev/null
+++ b/.github/workflows/test_pallet_patcher.yml
@@ -0,0 +1,75 @@
+name: Test automatic selection of deps
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  build:
+    name: Build & Test
+    runs-on: ubuntu-24.04
+
+    steps:
+
+      # Code of this repo
+      - name: Checkout this repo
+        uses: actions/checkout@v4
+        with:
+          path: root
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.11'
+
+      - name: Install pallet-patcher from dev branch
+        run: |
+          pip install git+https://github.com/cottsay/pallet-patcher.git@blast545/smarter_pallet_patcher
+          pallet-patcher -h
+
+      - name: Install colcon-cargo from this branch
+        run: |
+          cd $GITHUB_WORKSPACE/root
+          pip install .
+          pip install colcon-common-extensions
+          pip freeze
+
+      - name: Install Rust toolchain
+        uses: dtolnay/rust-toolchain@stable
+
+      - name: Install some Rust system crates
+        run: |
+          sudo apt-get install librust-serde-dev librust-tokio-dev librust-crc32fast-dev
+          dpkg -L librust-tokio-dev
+
+      - name: Install tokio crate as part of example
+        run: |
+          cargo install cargo-download
+          cd $GITHUB_WORKSPACE/root/test/pallet_patcher_ws/
+          mkdir -p ./deps
+          cd deps/
+          cargo download tokio > tokio.gz
+          tar -xvf tokio.gz -C ./
+          rm tokio.gz
+
+      - name: Test pallet-patcher alone before checking colcon-cargo integration
+        run: |
+          pallet-patcher --output-format toml $GITHUB_WORKSPACE/root/test/pallet_patcher_ws/deps/tokio-1.49.0/Cargo.toml $GITHUB_WORKSPACE/root/test/pallet_patcher_ws/deps
+
+      - name: colcon build example project with a tokio crate available in workspace_ws/deps
+        run: |
+          ls $GITHUB_WORKSPACE/root/
+          cd $GITHUB_WORKSPACE/root/test/pallet_patcher_ws/
+          ls
+          colcon --log-level debug build --event-handlers console_direct+
+
+      - name: Take a look to our Cargo.lock file for hello_world2
+        run: |
+          ls $GITHUB_WORKSPACE/root/test/pallet_patcher_ws/
+          ls $GITHUB_WORKSPACE/root/test/pallet_patcher_ws/hello_world2/
+          cat $GITHUB_WORKSPACE/root/test/pallet_patcher_ws/hello_world2/Cargo.lock
diff --git a/colcon_cargo/task/cargo/build.py b/colcon_cargo/task/cargo/build.py
index 3a7557e..b3a9c54 100644
--- a/colcon_cargo/task/cargo/build.py
+++ b/colcon_cargo/task/cargo/build.py
@@ -13,6 +13,9 @@
 from colcon_core.task import run
 from colcon_core.task import TaskExtensionPoint
 
+from pallet_patcher.command import load_and_compose
+from pallet_patcher.search import get_cargo_arguments
+
 logger = colcon_logger.getChild(__name__)
 
 
@@ -71,9 +74,28 @@ async def build(  # noqa: D102
         # Get package metadata
         metadata = await self._get_metadata(env)
 
+        ###### Run pallet-patcher to fetch anything available in colcon's workspace
+        ###### or in our system dependencies:
+        base_path = Path(args.path)
+
+        # TO-DO: How I get this to be the path where colcon is being run? workspace root
+        if "/deps" in str(base_path.parent):
+            ws_crates_paths = [base_path.parent.parent / Path("deps")]
+        else:
+            ws_crates_paths = [base_path.parent / Path("deps")]
+
+        system_crates_paths = [Path("/usr/share/cargo/registry/")]
+        manifest_path = base_path / Path("Cargo.toml")
+        logger.info("Searching for local crates in '{ws_crates_paths}'".format_map(locals()))
+        logger.info("Searching for system crates in '{system_crates_paths}'".format_map(locals()))
+        logger.info("Searching for metadata in '{manifest_path}'".format_map(locals()))
+        composition = load_and_compose(manifest_path, ws_crates_paths, system_crates_paths)
+        crates_available_locally = get_cargo_arguments(composition)
+        logger.info("Extra crates:" + str(crates_available_locally))
+
         cargo_args = args.cargo_args
         if cargo_args is None:
-            cargo_args = []
+            cargo_args = [] + crates_available_locally
         # Invoke build step
         cmd = self._build_cmd(cargo_args)
 
@@ -125,6 +147,7 @@ def _build_cmd(self, cargo_args):
             for arg in cargo_args
         ):
             cmd += ['--profile', 'dev']
+        logger.info(f"Build command: {cmd} and arguments: {cargo_args}")
         return cmd + cargo_args
 
     # Overridden by colcon-ros-cargo
diff --git a/setup.cfg b/setup.cfg
index 93bfa8f..bf9b4d3 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -27,6 +27,7 @@ install_requires =
   colcon-core>=0.19.0
   # toml is also supported but deprecated
   tomli>=1.0.0; python_version < "3.11"
+  pallet_patcher>=0.0.2
 packages = find:
 zip_safe = true
 
diff --git a/test/pallet_patcher_ws/hello_world/Cargo.toml b/test/pallet_patcher_ws/hello_world/Cargo.toml
new file mode 100644
index 0000000..4f0a461
--- /dev/null
+++ b/test/pallet_patcher_ws/hello_world/Cargo.toml
@@ -0,0 +1,6 @@
+[package]
+name = "hello_world"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
diff --git a/test/pallet_patcher_ws/hello_world/src/main.rs b/test/pallet_patcher_ws/hello_world/src/main.rs
new file mode 100644
index 0000000..e7a11a9
--- /dev/null
+++ b/test/pallet_patcher_ws/hello_world/src/main.rs
@@ -0,0 +1,3 @@
+fn main() {
+    println!("Hello, world!");
+}
diff --git a/test/pallet_patcher_ws/hello_world2/Cargo.toml b/test/pallet_patcher_ws/hello_world2/Cargo.toml
new file mode 100644
index 0000000..1c7ab29
--- /dev/null
+++ b/test/pallet_patcher_ws/hello_world2/Cargo.toml
@@ -0,0 +1,9 @@
+[package]
+name = "hello_world2"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+crc32fast = "1.3"
+tokio = { version = "1.0", features = ["full"] }
+serde = "1.0"
diff --git a/test/pallet_patcher_ws/hello_world2/src/main.rs b/test/pallet_patcher_ws/hello_world2/src/main.rs
new file mode 100644
index 0000000..e7a11a9
--- /dev/null
+++ b/test/pallet_patcher_ws/hello_world2/src/main.rs
@@ -0,0 +1,3 @@
+fn main() {
+    println!("Hello, world!");
+}