diff --git a/slam-libraries/Makefile b/slam-libraries/Makefile
index d18ab5c2..fdf83a11 100644
--- a/slam-libraries/Makefile
+++ b/slam-libraries/Makefile
@@ -94,6 +94,12 @@ install-lua-carto:
 testcarto:
 	cd viam-cartographer && ./scripts/test_cartographer.sh
 
+installcarto:
+	sudo cp viam-cartographer/build/carto_grpc_server /usr/local/bin/carto_grpc_server
+
+installorb:
+	sudo cp viam-orb-slam3/bin/orb_grpc_server /usr/local/bin/orb_grpc_server
+
 carto-all: bufinstall buf setupcarto buildcarto install-lua-carto testcarto
 
 include *.make
diff --git a/slam-libraries/viam-cartographer/CMakeLists.txt b/slam-libraries/viam-cartographer/CMakeLists.txt
index a392f160..ebcaf121 100644
--- a/slam-libraries/viam-cartographer/CMakeLists.txt
+++ b/slam-libraries/viam-cartographer/CMakeLists.txt
@@ -1,6 +1,7 @@
 cmake_minimum_required(VERSION 3.2)
 
 project(viam-cartographer)
+add_definitions(-DABSL_LEGACY_THREAD_ANNOTATIONS)
 
 set(VIAM_CARTOGRAPHER_MAJOR_VERSION 1)
 set(VIAM_CARTOGRAPHER_MINOR_VERSION 0)
diff --git a/slam-libraries/viam-cartographer/cartographer_build_utils/CMakeLists.txt b/slam-libraries/viam-cartographer/cartographer_build_utils/CMakeLists.txt
index 15fdbc46..4d11e3e7 100644
--- a/slam-libraries/viam-cartographer/cartographer_build_utils/CMakeLists.txt
+++ b/slam-libraries/viam-cartographer/cartographer_build_utils/CMakeLists.txt
@@ -1,6 +1,7 @@
 cmake_minimum_required(VERSION 3.2)
 
 project(cartographer)
+add_definitions(-DABSL_LEGACY_THREAD_ANNOTATIONS)
 
 set(CARTOGRAPHER_MAJOR_VERSION 1)
 set(CARTOGRAPHER_MINOR_VERSION 0)
diff --git a/slam-libraries/viam-cartographer/scripts/build_cartographer.sh b/slam-libraries/viam-cartographer/scripts/build_cartographer.sh
index df1f8da5..f8e0f296 100755
--- a/slam-libraries/viam-cartographer/scripts/build_cartographer.sh
+++ b/slam-libraries/viam-cartographer/scripts/build_cartographer.sh
@@ -18,6 +18,7 @@ rm -rf build
 mkdir build
 pushd build
 
+echo building cartogropher
 cmake .. -G Ninja -DCMAKE_CXX_STANDARD=17 -DCMAKE_PREFIX_PATH=`brew --prefix`
 ninja
 popd
diff --git a/slam-libraries/viam-cartographer/scripts/build_viam_cartographer.sh b/slam-libraries/viam-cartographer/scripts/build_viam_cartographer.sh
index 623175d9..cca7b6e6 100755
--- a/slam-libraries/viam-cartographer/scripts/build_viam_cartographer.sh
+++ b/slam-libraries/viam-cartographer/scripts/build_viam_cartographer.sh
@@ -22,6 +22,7 @@ fi
 
 pushd build
 
+echo building viam cartogropher
 cmake .. -G Ninja -DCMAKE_CXX_STANDARD=17 -DCMAKE_PREFIX_PATH=`brew --prefix` -DQt5_DIR=$(brew --prefix qt5)/lib/cmake/Qt5
 ninja
 popd