diff --git a/.github/workflows/appimage.yml b/.github/workflows/appimage.yml
deleted file mode 100644
index 6861d5cb..00000000
--- a/.github/workflows/appimage.yml
+++ /dev/null
@@ -1,220 +0,0 @@
-name: Build AppImage SLAM Server
-
-on:
-  workflow_dispatch:
-  workflow_call:
-    secrets:
-      GCP_CREDENTIALS:
-        required: true
-      REPO_READ_TOKEN:
-        required: true
-      ARTIFACT_READ_ONLY_GCP_CREDENTIALS:
-        required: true
-  push:
-    branches: main
-    paths-ignore:
-      - 'README.md'
-
-env:
-  GOPRIVATE: "github.com/viamrobotics/*,go.viam.com/*"
-  GOOGLE_APPLICATION_CREDENTIALS_FILENAME: "google-credentials.json"
-
-jobs:
-  appimage_orbslam:
-    name: AppImage Build ORB_SLAM3
-    strategy:
-      matrix:
-        include:
-          - arch: [x64, qemu-host]
-            image: ghcr.io/viamrobotics/canon:amd64-cache
-            platform: linux/amd64
-          - arch: [arm64, qemu-host]
-            image: ghcr.io/viamrobotics/canon:arm64-cache
-            platform: linux/arm64
-    runs-on: ${{ matrix.arch }}
-    container:
-      image: ${{ matrix.image }}
-      options: --platform ${{ matrix.platform }}
-    timeout-minutes: 180
-
-    steps:
-    - name: Configure git for private repos
-      run: |
-        sudo -u testbot bash -lc 'echo "machine github.com login viambot password ${{ secrets.REPO_READ_TOKEN }}" > ~/.netrc'
-
-    - name: Check out code in slam directory
-      uses: actions/checkout@v3
-      with:
-        submodules: recursive
-        path: slam
-   
-    - name: Clean
-      run: |
-        chown -R testbot .
-        sudo -u testbot bash -lc 'cd slam/slam-libraries && make clean-all'
-    
-    - name: make bufinstall buf
-      uses: nick-fields/retry@v2
-      with:
-        timeout_minutes: 5
-        max_attempts: 3
-        retry_on: timeout
-        shell: bash
-        command: |
-          chown -R testbot .
-          sudo -u testbot bash -lc 'cd slam/slam-libraries && make bufinstall buf'
-
-    - name: make setuporb
-      run: |
-        sudo -u testbot bash -lc 'cd slam/slam-libraries && make setuporb'
-
-    - name: make buildorb
-      run: |
-        sudo -u testbot bash -lc 'cd slam/slam-libraries && make buildorb'
-
-    - name: make testorb
-      run: |
-        sudo -u testbot bash -lc 'cd slam/slam-libraries && make testorb'
-
-    - name: Copy orb_grpc_server binary
-      if: matrix.platform == 'linux/amd64'
-      run: |
-        sudo cp slam/slam-libraries/viam-orb-slam3/bin/orb_grpc_server /usr/local/bin/orb_grpc_server
-
-    - name: Check out code in rdk directory
-      if: matrix.platform == 'linux/amd64'
-      uses: actions/checkout@v3
-      with:
-        repository: viamrobotics/rdk
-        path: rdk
-
-    - name: Create GCP Credential File from secret
-      if: matrix.platform == 'linux/amd64'
-      run: |
-        GOOGLE_APPLICATION_CREDENTIALS=`pwd`/${GOOGLE_APPLICATION_CREDENTIALS_FILENAME}
-        echo "${{ secrets.ARTIFACT_READ_ONLY_GCP_CREDENTIALS }}" >> ${GOOGLE_APPLICATION_CREDENTIALS}
-        echo "GOOGLE_APPLICATION_CREDENTIALS=${GOOGLE_APPLICATION_CREDENTIALS}" >> $GITHUB_ENV
-
-    - name: Run rdk slam integration tests
-      if: matrix.platform == 'linux/amd64'
-      run: |
-        sudo --preserve-env=GOOGLE_APPLICATION_CREDENTIALS -u testbot bash -lc 'cd rdk/services/slam/builtin && sudo go test -v -run TestOrbslamIntegration'
-
-    - name: Build appimage
-      run: sudo -u testbot bash -lc 'cd slam/slam-libraries && make BUILD_CHANNEL="latest" appimageorb'
-
-    - name: Authorize GCP Upload
-      uses: google-github-actions/auth@v1
-      with:
-        credentials_json: '${{ secrets.GCP_CREDENTIALS }}'
-    
-    - name: Deploy Files
-      uses: google-github-actions/upload-cloud-storage@v0.10.4
-      with:
-        headers: "cache-control: no-cache"
-        path: 'slam/slam-libraries/packaging/appimages/deploy/'
-        destination: 'packages.viam.com/apps/slam-servers/'
-        glob: '*'
-        parent: false
-        gzip: false
-  appimage_cartographer:
-    name: AppImage Build Cartographer
-    strategy:
-      matrix:
-        include:
-          - arch: [x64, qemu-host]
-            image: ghcr.io/viamrobotics/canon:amd64-cache
-            platform: linux/amd64
-          - arch: [arm64, qemu-host]
-            image: ghcr.io/viamrobotics/canon:arm64-cache
-            platform: linux/arm64
-    runs-on: ${{ matrix.arch }}
-    container:
-      image: ${{ matrix.image }}
-      options: --platform ${{ matrix.platform }}
-    timeout-minutes: 180
-
-    steps:
-    - name: Configure git for private repos
-      run: |
-        sudo -u testbot bash -lc 'echo "machine github.com login viambot password ${{ secrets.REPO_READ_TOKEN }}" > ~/.netrc'
-
-    - name: Check out code in slam directory
-      uses: actions/checkout@v3
-      with:
-        submodules: recursive
-        path: slam
-   
-    - name: Clean
-      run: |
-        chown -R testbot .
-        sudo -u testbot bash -lc 'cd slam/slam-libraries && make clean-all'
-    
-    - name: make bufinstall buf
-      uses: nick-fields/retry@v2
-      with:
-        timeout_minutes: 5
-        max_attempts: 3
-        retry_on: timeout
-        shell: bash
-        command: |
-          chown -R testbot .
-          sudo -u testbot bash -lc 'cd slam/slam-libraries && make bufinstall buf'
-
-    - name: make setupcarto
-      run: |
-        sudo -u testbot bash -lc 'cd slam/slam-libraries && make setupcarto'
-
-    - name: make buildcarto
-      run: |
-        sudo -u testbot bash -lc 'cd slam/slam-libraries && make buildcarto'
-
-    - name: make install-lua-carto
-      run: |
-        sudo -u testbot bash -lc 'cd slam/slam-libraries && make install-lua-carto'
-
-    - name: make testcarto
-      run: |
-        sudo -u testbot bash -lc 'cd slam/slam-libraries && make testcarto'
-
-    - name: Copy carto_grpc_server binary
-      if: matrix.platform == 'linux/amd64'
-      run: |
-        sudo cp slam/slam-libraries/viam-cartographer/build/carto_grpc_server /usr/local/bin/carto_grpc_server
-
-    - name: Check out code in rdk directory
-      if: matrix.platform == 'linux/amd64'
-      uses: actions/checkout@v3
-      with:
-        repository: viamrobotics/rdk
-        path: rdk
-
-    - name: Create GCP Credential File from secret
-      if: matrix.platform == 'linux/amd64'
-      run: |
-        GOOGLE_APPLICATION_CREDENTIALS=`pwd`/${GOOGLE_APPLICATION_CREDENTIALS_FILENAME}
-        echo "${{ secrets.ARTIFACT_READ_ONLY_GCP_CREDENTIALS }}" >> ${GOOGLE_APPLICATION_CREDENTIALS}
-        echo "GOOGLE_APPLICATION_CREDENTIALS=${GOOGLE_APPLICATION_CREDENTIALS}" >> $GITHUB_ENV
-
-    - name: Run rdk slam integration tests
-      if: matrix.platform == 'linux/amd64'
-      run: |
-        sudo --preserve-env=GOOGLE_APPLICATION_CREDENTIALS -u testbot bash -lc 'cd rdk/services/slam/builtin && sudo go test -v -run TestCartographerIntegration'
-
-    - name: Build appimage
-      run: sudo -u testbot bash -lc 'cd slam/slam-libraries && make BUILD_CHANNEL="latest" appimagecarto'
-
-    - name: Authorize GCP Upload
-      uses: google-github-actions/auth@v1
-      with:
-        credentials_json: '${{ secrets.GCP_CREDENTIALS }}'
-    
-    - name: Deploy Files
-      uses: google-github-actions/upload-cloud-storage@v0.10.4
-      with:
-        headers: "cache-control: no-cache"
-        path: 'slam/slam-libraries/packaging/appimages/deploy/'
-        destination: 'packages.viam.com/apps/slam-servers/'
-        glob: '*'
-        parent: false
-        gzip: false
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 14b5e4a3..3ff1d17b 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -17,12 +17,5 @@ on:
 # Don't forget to tag back to @main before merge.
 
 jobs:
-  appimage:
-    uses: viamrobotics/slam/.github/workflows/appimage.yml@main
-    secrets:
-      GCP_CREDENTIALS: ${{ secrets.GCP_CREDENTIALS }}
-      REPO_READ_TOKEN: ${{ secrets.REPO_READ_TOKEN }}
-      ARTIFACT_READ_ONLY_GCP_CREDENTIALS: ${{ secrets.ARTIFACT_READ_ONLY_GCP_CREDENTIALS }}
-
   gotest:
     uses: viamrobotics/slam/.github/workflows/gotest.yml@main
diff --git a/.github/workflows/pullrequest.yml b/.github/workflows/pullrequest.yml
index 428fb4e6..46a2b814 100644
--- a/.github/workflows/pullrequest.yml
+++ b/.github/workflows/pullrequest.yml
@@ -15,10 +15,5 @@ on:
 # Don't forget to tag back to @main before merge.
 
 jobs:
-  test:
-    uses: viamrobotics/slam/.github/workflows/test.yml@main
-    secrets:
-      ARTIFACT_READ_ONLY_GCP_CREDENTIALS: ${{ secrets.ARTIFACT_READ_ONLY_GCP_CREDENTIALS }}
-
   gotest:
     uses: viamrobotics/slam/.github/workflows/gotest.yml@main
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
deleted file mode 100644
index 08ece478..00000000
--- a/.github/workflows/test.yml
+++ /dev/null
@@ -1,185 +0,0 @@
-name: Test
-
-on:
-  workflow_dispatch:
-  workflow_call:
-    secrets:
-      ARTIFACT_READ_ONLY_GCP_CREDENTIALS:
-        required: true
-
-env:
-  GOPRIVATE: "github.com/viamrobotics/*,go.viam.com/*"
-  GOOGLE_APPLICATION_CREDENTIALS_FILENAME: "google-credentials.json"
-
-jobs:
-  format:
-    name: Format
-    runs-on: [x64, qemu-host]
-    container:
-      image: ghcr.io/viamrobotics/canon:amd64-cache
-      options: --platform linux/amd64
-    timeout-minutes: 30
-    steps:
-    - name: Check out code in slam directory
-      uses: actions/checkout@v3
-      with:
-        submodules: recursive
-
-    - name: Verify no uncommitted changes from make format
-      run: |
-        git init
-        git add .
-        chown -R testbot .
-        sudo -u testbot bash -lc 'cd slam-libraries && make format-setup format'
-        GEN_DIFF=$(git status -s)
-
-        if [ -n "$GEN_DIFF" ]; then
-            echo '"make format" resulted in changes not in git' 1>&2
-            git status
-            exit 1
-        fi
-
-  build_and_test_orb:
-    name: Build and Test Orbslam
-    strategy:
-      matrix:
-        include:
-          - arch: [x64, qemu-host]
-            image: ghcr.io/viamrobotics/canon:amd64-cache
-            platform: linux/amd64
-          - arch: [arm64, qemu-host]
-            image: ghcr.io/viamrobotics/canon:arm64-cache
-            platform: linux/arm64
-    runs-on: ${{ matrix.arch }}
-    container:
-      image: ${{ matrix.image }}
-      options: --platform ${{ matrix.platform }}
-    timeout-minutes: 180
-
-    steps:
-    - name: Check out code in slam directory
-      uses: actions/checkout@v3
-      with:
-        submodules: recursive
-        path: slam
-
-    - name: make bufinstall buf
-      uses: nick-fields/retry@v2
-      with:
-        timeout_minutes: 5
-        max_attempts: 3
-        retry_on: timeout
-        shell: bash
-        command: |
-          chown -R testbot .
-          sudo -u testbot bash -lc 'cd slam/slam-libraries && make bufinstall buf'
-
-    - name: make setuporb
-      run: |
-        sudo -u testbot bash -lc 'cd slam/slam-libraries && make setuporb'
-
-    - name: make buildorb
-      run: |
-        sudo -u testbot bash -lc 'cd slam/slam-libraries && make buildorb'
-
-    - name: make testorb
-      run: |
-        sudo -u testbot bash -lc 'cd slam/slam-libraries && make testorb'
-
-    - name: Copy orb_grpc_server binary
-      if: matrix.platform == 'linux/amd64'
-      run: |
-        sudo cp slam/slam-libraries/viam-orb-slam3/bin/orb_grpc_server /usr/local/bin/orb_grpc_server
-
-    - name: Check out code in rdk directory
-      if: matrix.platform == 'linux/amd64'
-      uses: actions/checkout@v3
-      with:
-        repository: viamrobotics/rdk
-        path: rdk
-
-    - name: Create GCP Credential File from secret
-      if: matrix.platform == 'linux/amd64'
-      run: |
-        GOOGLE_APPLICATION_CREDENTIALS=`pwd`/${GOOGLE_APPLICATION_CREDENTIALS_FILENAME}
-        echo "${{ secrets.ARTIFACT_READ_ONLY_GCP_CREDENTIALS }}" >> ${GOOGLE_APPLICATION_CREDENTIALS}
-        echo "GOOGLE_APPLICATION_CREDENTIALS=${GOOGLE_APPLICATION_CREDENTIALS}" >> $GITHUB_ENV
-
-    - name: Run rdk orbslam integration tests
-      if: matrix.platform == 'linux/amd64'
-      run: |
-        sudo --preserve-env=GOOGLE_APPLICATION_CREDENTIALS -u testbot bash -lc 'cd rdk/services/slam/builtin && sudo go test -v -run TestOrbslamIntegration'
-
-  build_and_test_cartographer:
-    name: Build and Test Cartographer
-    strategy:
-      matrix:
-        include:
-          - arch: [x64, qemu-host]
-            image: ghcr.io/viamrobotics/canon:amd64-cache
-            platform: linux/amd64
-          - arch: [arm64, qemu-host]
-            image: ghcr.io/viamrobotics/canon:arm64-cache
-            platform: linux/arm64
-    runs-on: ${{ matrix.arch }}
-    container:
-      image: ${{ matrix.image }}
-      options: --platform ${{ matrix.platform }}
-    timeout-minutes: 180
-
-    steps:
-    - name: Check out code in slam directory
-      uses: actions/checkout@v3
-      with:
-        submodules: recursive
-        path: slam
-
-    - name: make bufinstall buf
-      uses: nick-fields/retry@v2
-      with:
-        timeout_minutes: 5
-        max_attempts: 3
-        retry_on: timeout
-        command: |
-          chown -R testbot .
-          sudo -u testbot bash -lc 'cd slam/slam-libraries && make bufinstall buf'
-
-    - name: make setupcarto
-      run: |
-        sudo -u testbot bash -lc 'cd slam/slam-libraries && make setupcarto'
-
-    - name: make buildcarto
-      run: |
-        sudo -u testbot bash -lc 'cd slam/slam-libraries && make buildcarto'
-
-    - name: make install-lua-carto
-      run: |
-        sudo -u testbot bash -lc 'cd slam/slam-libraries && make install-lua-carto'
-
-    - name: move testcarto
-      run: |
-        sudo -u testbot bash -lc 'cd slam/slam-libraries && make testcarto'
-
-    - name: Copy carto_grpc_server binary
-      if: matrix.platform == 'linux/amd64'
-      run: |
-        sudo cp slam/slam-libraries/viam-cartographer/build/carto_grpc_server /usr/local/bin/carto_grpc_server
-
-    - name: Check out code in rdk directory
-      if: matrix.platform == 'linux/amd64'
-      uses: actions/checkout@v3
-      with:
-        repository: viamrobotics/rdk
-        path: rdk
-
-    - name: Create GCP Credential File from secret
-      if: matrix.platform == 'linux/amd64'
-      run: |
-        GOOGLE_APPLICATION_CREDENTIALS=`pwd`/${GOOGLE_APPLICATION_CREDENTIALS_FILENAME}
-        echo "${{ secrets.ARTIFACT_READ_ONLY_GCP_CREDENTIALS }}" >> ${GOOGLE_APPLICATION_CREDENTIALS}
-        echo "GOOGLE_APPLICATION_CREDENTIALS=${GOOGLE_APPLICATION_CREDENTIALS}" >> $GITHUB_ENV
-
-    - name: Run rdk cartographer integration tests
-      if: matrix.platform == 'linux/amd64'
-      run: |
-        sudo --preserve-env=GOOGLE_APPLICATION_CREDENTIALS -u testbot bash -lc 'cd rdk/services/slam/builtin && sudo go test -v -run TestCartographerIntegration'