diff --git a/tesseract_process_managers/examples/freespace_manager_example.cpp b/tesseract_process_managers/examples/freespace_manager_example.cpp
index a169561fab2..bafcaf023a0 100644
--- a/tesseract_process_managers/examples/freespace_manager_example.cpp
+++ b/tesseract_process_managers/examples/freespace_manager_example.cpp
@@ -68,6 +68,7 @@ int main()
   // Create Process Planning Server
   ProcessPlanningServer planning_server(std::make_shared<ProcessEnvironmentCache>(env), 1);
   planning_server.loadDefaultProcessPlanners();
+  planning_server.loadDefaultProfiles();
 
   // Create Process Planning Request
   ProcessPlanningRequest request;
diff --git a/tesseract_process_managers/examples/memory_usage_example.cpp b/tesseract_process_managers/examples/memory_usage_example.cpp
index c090927d6d8..46e10ec123b 100644
--- a/tesseract_process_managers/examples/memory_usage_example.cpp
+++ b/tesseract_process_managers/examples/memory_usage_example.cpp
@@ -151,6 +151,7 @@ int main()
   // Create Process Planning Server
   ProcessPlanningServer planning_server(std::make_shared<ProcessEnvironmentCache>(env), 5);
   planning_server.loadDefaultProcessPlanners();
+  planning_server.loadDefaultProfiles();
 
   // Solve process plan
   using Clock = std::chrono::high_resolution_clock;
diff --git a/tesseract_process_managers/examples/raster_manager_example.cpp b/tesseract_process_managers/examples/raster_manager_example.cpp
index 53eece8042d..32f68886a15 100644
--- a/tesseract_process_managers/examples/raster_manager_example.cpp
+++ b/tesseract_process_managers/examples/raster_manager_example.cpp
@@ -69,13 +69,14 @@ int main()
   // Create Process Planning Server
   ProcessPlanningServer planning_server(std::make_shared<ProcessEnvironmentCache>(env), 1);
   planning_server.loadDefaultProcessPlanners();
+  planning_server.loadDefaultProfiles();
 
   // Create Process Planning Request
   ProcessPlanningRequest request;
   request.name = process_planner_names::RASTER_G_FT_PLANNER_NAME;
 
   // Define the program
-  CompositeInstruction program = rasterExampleProgram();
+  CompositeInstruction program = rasterExampleProgram(DEFAULT_PROFILE_KEY, DEFAULT_PROFILE_KEY);
   request.instructions = Instruction(program);
 
   // Print Diagnostics
diff --git a/tesseract_process_managers/examples/taskflow_profiling_example.cpp b/tesseract_process_managers/examples/taskflow_profiling_example.cpp
index 97d20fecc45..c906f805ccc 100644
--- a/tesseract_process_managers/examples/taskflow_profiling_example.cpp
+++ b/tesseract_process_managers/examples/taskflow_profiling_example.cpp
@@ -99,6 +99,7 @@ int main()
   // Create Process Planning Server
   ProcessPlanningServer planning_server(std::make_shared<ProcessEnvironmentCache>(env), 1);
   planning_server.loadDefaultProcessPlanners();
+  planning_server.loadDefaultProfiles();
 
   for (int idx = -10; idx < 10; idx++)
   {