diff --git a/tesseract_common/include/tesseract_common/serialization.h b/tesseract_common/include/tesseract_common/serialization.h
index e84b4a23727..1e04ec04725 100644
--- a/tesseract_common/include/tesseract_common/serialization.h
+++ b/tesseract_common/include/tesseract_common/serialization.h
@@ -38,6 +38,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/archive/binary_iarchive.hpp>
 #include <boost/serialization/tracking.hpp>
 #include <boost/serialization/tracking_enum.hpp>
+#include <boost/uuid/uuid_io.hpp>
+#include <boost/uuid/uuid_serialize.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_common/types.h>
diff --git a/tesseract_common/include/tesseract_common/tool_path.h b/tesseract_common/include/tesseract_common/tool_path.h
index edd057302c8..a2e51edf031 100644
--- a/tesseract_common/include/tesseract_common/tool_path.h
+++ b/tesseract_common/include/tesseract_common/tool_path.h
@@ -27,7 +27,9 @@
 #define TESSERACT_COMMON_TOOL_PATH_H
 
 #include <string>
+#include <boost/uuid/uuid.hpp>
 #include <tesseract_common/tool_path_segment.h>
+#include <tesseract_common/serialization.h>
 
 namespace tesseract_common
 {
@@ -235,6 +237,7 @@ class ToolPath
   /** @brief The namespace associated with the tool path */
   std::string ns_{ "general" };
 
+  friend struct tesseract_common::Serialization;
   friend class boost::serialization::access;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
@@ -242,4 +245,8 @@ class ToolPath
 
 }  // namespace tesseract_common
 
+#include <boost/serialization/export.hpp>
+#include <boost/serialization/tracking.hpp>
+BOOST_CLASS_EXPORT_KEY2(tesseract_common::ToolPath, "ToolPath")
+
 #endif  // TESSERACT_COMMON_TOOL_PATH_H
diff --git a/tesseract_common/include/tesseract_common/tool_path_segment.h b/tesseract_common/include/tesseract_common/tool_path_segment.h
index 1bdc1280e6f..33ace2cde98 100644
--- a/tesseract_common/include/tesseract_common/tool_path_segment.h
+++ b/tesseract_common/include/tesseract_common/tool_path_segment.h
@@ -29,6 +29,7 @@
 #include <string>
 #include <boost/uuid/uuid.hpp>
 #include <tesseract_common/types.h>
+#include <tesseract_common/serialization.h>
 
 namespace tesseract_common
 {
@@ -219,10 +220,16 @@ class ToolPathSegment
   /** @brief The container */
   VectorIsometry3d container_;
 
+  friend struct tesseract_common::Serialization;
   friend class boost::serialization::access;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };
 
 }  // namespace tesseract_common
+
+#include <boost/serialization/export.hpp>
+#include <boost/serialization/tracking.hpp>
+BOOST_CLASS_EXPORT_KEY2(tesseract_common::ToolPathSegment, "ToolPathSegment")
+
 #endif  // TESSERACT_COMMON_TOOL_PATH_SEGMENT_H