diff --git a/.github/workflows/appimage.yml b/.github/workflows/appimage.yml
index 4da5d147..6fda0098 100644
--- a/.github/workflows/appimage.yml
+++ b/.github/workflows/appimage.yml
@@ -31,7 +31,6 @@ jobs:
       uses: actions/checkout@v3
       with:
         submodules: recursive
-        path: viam-cartographer
       
     - name: Check out PR branch code
       if: github.event_name == 'pull_request_target'
@@ -39,7 +38,6 @@ jobs:
       with:
         ref: ${{ github.event.pull_request.head.sha }}
         submodules: recursive
-        path: viam-cartographer
 
     - name: apt update
       run: |
@@ -48,31 +46,20 @@ jobs:
     - name: make clean
       run: |
         chown -R testbot:testbot .
-        sudo -u testbot bash -lc 'cd viam-cartographer && make clean'
+        sudo -u testbot bash -lc 'make clean'
         
-    - name: make bufinstall buf setup
-      uses: nick-fields/retry@v2
-      with:
-        timeout_minutes: 5
-        max_attempts: 3
-        retry_on: timeout
-        shell: bash
-        command: |
-          chown -R testbot:testbot .
-          sudo -u testbot bash -lc 'cd viam-cartographer && make bufinstall buf setup'
-
-    - name: make build
+    - name: make setup
       run: |
-        sudo -u testbot bash -lc 'cd viam-cartographer && make build'
+        sudo -u testbot bash -lc 'make setup'
 
-    - name: make install-lua-files
+    - name: make build
       run: |
-        sudo -u testbot bash -lc 'cd viam-cartographer && make install-lua-files'
+        sudo -u testbot bash -lc 'make build'
 
     - name: Build AppImage (PR)
       if: contains(github.event.pull_request.labels.*.name, 'appimage') || contains(github.event.pull_request.labels.*.name, 'appimage-ignore-tests')
       run: |
-        sudo -u testbot bash -lc 'cd viam-cartographer && make BUILD_CHANNEL="pr-${{ github.event.pull_request.number }}" appimage'
+        sudo -u testbot bash -lc 'make BUILD_CHANNEL="pr-${{ github.event.pull_request.number }}" appimage'
 
     - name: Authorize GCP Upload
       uses: google-github-actions/auth@v1
@@ -84,7 +71,7 @@ jobs:
       uses: google-github-actions/upload-cloud-storage@v0.10.4
       with:
         headers: "cache-control: no-cache"
-        path: 'viam-cartographer/etc/packaging/appimages/deploy/'
+        path: 'etc/packaging/appimages/deploy/'
         destination: 'packages.viam.com/apps/slam-servers/'
         glob: '*'
         parent: false
@@ -92,14 +79,14 @@ jobs:
 
     - name: Build AppImage (Latest)
       if: github.event_name == 'workflow_dispatch' || github.event_name == 'push'
-      run: sudo -u testbot bash -lc 'cd viam-cartographer && make appimage-ci'
+      run: sudo -u testbot bash -lc 'make appimage-ci'
 
     - name: Deploy Files (Latest)
       if: github.event_name == 'workflow_dispatch' || github.event_name == 'push'
       uses: google-github-actions/upload-cloud-storage@v0.10.4
       with:
         headers: "cache-control: no-cache"
-        path: 'viam-cartographer/etc/packaging/appimages/deploy/'
+        path: 'etc/packaging/appimages/deploy/'
         destination: 'packages.viam.com/apps/slam-servers/'
         glob: '*'
         parent: false
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 1150358f..dccb0f44 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -57,15 +57,15 @@ jobs:
 
     - name: apt update
       run: |
-        sudo apt update
+        apt-get update
 
     - name: Verify no uncommitted changes from make lint
       run: |
         git init
         git add .
         chown -R testbot:testbot .
-        sudo -u testbot bash -lc 'make lint-setup lint'
-        GEN_DIFF=$(git status -s)
+        sudo -u testbot bash -lc 'sudo apt-get install -y clang-format && make lint'
+        GEN_DIFF=$(git status -s --ignore-submodules)
 
         if [ -n "$GEN_DIFF" ]; then
             echo '"make lint" resulted in changes not in git' 1>&2
@@ -73,43 +73,31 @@ jobs:
             exit 1
         fi
 
-    - name: make bufinstall buf setup setup-cpp-full-mod
-      uses: nick-fields/retry@v2
-      with:
-        timeout_minutes: 5
-        max_attempts: 3
-        retry_on: timeout
-        shell: bash
-        command: |
-          chown -R testbot:testbot .
-          sudo -u testbot bash -lc 'make bufinstall buf setup setup-cpp-full-mod'
+    - name: make setup
+      run: |
+        sudo -u testbot bash -lc 'make setup'
 
     - name: make build
       run: |
         sudo -u testbot bash -lc 'make build'
 
-    - name: make install-lua-files
+    - name: make install
       run: |
-        sudo -u testbot bash -lc 'make install-lua-files'
+        sudo -u testbot bash -lc 'make install'
 
     - name: make test
       run: |
         sudo -u testbot bash -lc 'make test'
 
-    - name: Copy carto_grpc_server binary
-      if: matrix.platform == 'linux/amd64'
-      run: |
-        sudo cp viam-cartographer/build/carto_grpc_server /usr/local/bin/carto_grpc_server
-
     - name: Run viam-cartographer cartographer integration tests
       if: matrix.platform == 'linux/amd64'
       run: |
-        sudo -u testbot bash -lc 'sudo go test -v -race -run TestCartographerIntegration'
+        sudo -u testbot bash -lc 'go test -v -race -run TestCartographerIntegration'
 
-    - name: make test-cpp-full-mod-valgrind
+    - name: make setup-cpp-full-mod test-cpp-full-mod-valgrind
       # Currently we only run valgrind on arm64 as x86
       # doesn't valgrind clean due to what appears to be a bug in GLOG
       # https://github.com/viamrobotics/viam-cartographer/actions/runs/5156238014/jobs/9287413446
       if: matrix.platform != 'linux/amd64'
       run: |
-        sudo -u testbot bash -lc 'make test-cpp-full-mod-valgrind'
+        sudo -u testbot bash -lc 'make setup-cpp-full-mod test-cpp-full-mod-valgrind'
diff --git a/Makefile b/Makefile
index 29e51ed6..0792a4dc 100644
--- a/Makefile
+++ b/Makefile
@@ -1,35 +1,43 @@
 BUILD_CHANNEL?=local
-TOOL_BIN = bin/gotools/$(shell uname -s)-$(shell uname -m)
-PATH_WITH_TOOLS="`pwd`/$(TOOL_BIN):$(HOME)/go/bin/:${PATH}"
-GIT_REVISION = $(shell git rev-parse HEAD | tr -d '\n')
-TAG_VERSION?=$(shell git tag --points-at | sort -Vr | head -n1)
-GO_BUILD_LDFLAGS = -ldflags "-X 'main.Version=${TAG_VERSION}' -X 'main.GitRevision=${GIT_REVISION}'"
+TOOL_BIN := $(shell pwd)/bin/tools/$(shell uname -s)-$(shell uname -m)
+GIT_REVISION := $(shell git rev-parse HEAD | tr -d '\n')
+TAG_VERSION ?= $(shell git tag --points-at | sort -Vr | head -n1)
+GO_BUILD_LDFLAGS := -ldflags "-X 'main.Version=${TAG_VERSION}' -X 'main.GitRevision=${GIT_REVISION}'"
+SHELL := /usr/bin/env bash
+export PATH := $(TOOL_BIN):$(PATH)
+export GOBIN := $(TOOL_BIN)
+
+ifneq (, $(shell which brew))
+	EXTRA_CMAKE_FLAGS := -DCMAKE_PREFIX_PATH=$(shell brew --prefix) -DQt5_DIR=$(shell brew --prefix qt5)/lib/cmake/Qt5
+	export PKG_CONFIG_PATH := $(shell brew --prefix openssl@3)/lib/pkgconfig
+endif
+
+default: build
 
-ARTIFACT="~/go/bin/artifact"
+artifact-pull: $(TOOL_BIN)/artifact
+	artifact pull
 
-artifact-pull:
-	PATH=${PATH_WITH_TOOLS} artifact pull
+$(TOOL_BIN)/artifact:
+	 go install go.viam.com/utils/artifact/cmd/artifact
 
-bufinstall:
-	sudo apt-get install -y protobuf-compiler-grpc libgrpc-dev libgrpc++-dev || brew install grpc openssl --quiet
+$(TOOL_BIN)/buf:
+	go install github.com/bufbuild/buf/cmd/buf@v1.8.0
 
-bufsetup:
-	GOBIN=`pwd`/grpc/bin go install github.com/bufbuild/buf/cmd/buf@v1.8.0
-	ln -sf `which grpc_cpp_plugin` grpc/bin/protoc-gen-grpc-cpp
+$(TOOL_BIN)/protoc-gen-grpc-cpp:
+	mkdir -p "$(TOOL_BIN)"
+	which grpc_cpp_plugin && ln -sf `which grpc_cpp_plugin` $(TOOL_BIN)/protoc-gen-grpc-cpp
 
-buf: bufsetup
-	PATH="${PATH}:`pwd`/grpc/bin" buf generate --template ./buf/buf.gen.yaml buf.build/viamrobotics/api
-	PATH="${PATH}:`pwd`/grpc/bin" buf generate --template ./buf/buf.grpc.gen.yaml buf.build/viamrobotics/api
-	PATH="${PATH}:`pwd`/grpc/bin" buf generate --template ./buf/buf.gen.yaml buf.build/googleapis/googleapis
+buf: $(TOOL_BIN)/buf $(TOOL_BIN)/protoc-gen-grpc-cpp
+	buf generate --template ./buf/buf.gen.yaml buf.build/viamrobotics/api
+	buf generate --template ./buf/buf.grpc.gen.yaml buf.build/viamrobotics/api
+	buf generate --template ./buf/buf.gen.yaml buf.build/googleapis/googleapis
 
 clean:
-	rm -rf grpc
-	rm -rf bin
-	rm -rf viam-cartographer/build
-	rm -rf viam-cartographer/cartographer/build
+	rm -rf grpc bin viam-cartographer/build
 
 clean-all:
 	git clean -fxd
+	cd viam-cartographer/cartographer && git checkout . && git clean -fxd
 
 ensure-submodule-initialized:
 	@if [ ! -d "viam-cartographer/cartographer/cartographer" ]; then \
@@ -38,21 +46,8 @@ ensure-submodule-initialized:
 	else \
 		echo "Submodule found successfully"; \
 	fi
-
-lint-setup-cpp:
-ifeq ("Darwin", "$(shell uname -s)")
-	brew install clang-format
-else
-	sudo apt-get install -y clang-format
-endif
-
-lint-setup-go:
-	GOBIN=`pwd`/$(TOOL_BIN) go install \
-		github.com/edaniels/golinters/cmd/combined \
-		github.com/golangci/golangci-lint/cmd/golangci-lint \
-		github.com/rhysd/actionlint/cmd/actionlint
-
-lint-setup: lint-setup-cpp lint-setup-go
+	grep -q viam-patched viam-cartographer/cartographer/CMakeLists.txt || \
+	(cd viam-cartographer/cartographer && git checkout . && git apply ../cartographer_patches/carto.patch)
 
 lint-cpp:
 	find . -type f -not -path \
@@ -63,42 +58,46 @@ lint-cpp:
 		-and \( -iname '*.h' -o -iname '*.cpp' -o -iname '*.cc' \) \
 		| xargs clang-format -i --style="{BasedOnStyle: Google, IndentWidth: 4}"
 
-lint-go:
+lint-go: $(TOOL_BIN)/combined $(TOOL_BIN)/golangci-lint $(TOOL_BIN)/actionlint
 	go vet -vettool=$(TOOL_BIN)/combined ./...
-	GOGC=50 $(TOOL_BIN)/golangci-lint run -v --fix --config=./etc/golangci.yaml
-	PATH=$(PATH_WITH_TOOLS) actionlint
+	GOGC=50 golangci-lint run -v --fix --config=./etc/golangci.yaml
+	actionlint
+
+$(TOOL_BIN)/combined $(TOOL_BIN)/golangci-lint $(TOOL_BIN)/actionlint:
+	go install \
+		github.com/edaniels/golinters/cmd/combined \
+		github.com/golangci/golangci-lint/cmd/golangci-lint \
+		github.com/rhysd/actionlint/cmd/actionlint
 
 lint: ensure-submodule-initialized lint-cpp lint-go
 
-setup: ensure-submodule-initialized
-ifeq ("Darwin", "$(shell uname -s)")
-	cd viam-cartographer/scripts && ./setup_cartographer_macos.sh
+setup: install-dependencies ensure-submodule-initialized artifact-pull
+
+install-dependencies:
+ifneq (, $(shell which brew))
+	brew update
+	brew install abseil boost ceres-solver protobuf ninja cairo googletest lua@5.3 pkg-config cmake go@1.20 grpc clang-format
+	brew link lua@5.3
+	brew install openssl@3 eigen gflags glog suite-sparse sphinx-doc pcl nlopt-static
+else ifneq (, $(shell which apt-get))
+	$(warning  "Installing cartographer external dependencies via APT.")
+	$(warning "Packages may be too old to work with this project.")
+	sudo apt-get update
+	sudo apt-get install -y cmake ninja-build libgmock-dev libboost-iostreams-dev liblua5.3-dev libcairo2-dev python3-sphinx libnlopt-dev \
+		libabsl-dev libceres-dev libprotobuf-dev protobuf-compiler protobuf-compiler-grpc libpcl-dev libgrpc-dev libgrpc++-dev clang-format
 else
-	cd viam-cartographer/scripts && ./setup_cartographer_linux.sh
-endif
-	@make artifact-pull
-	
-build: build-module
-ifneq ($(wildcard viam-cartographer/cartographer/build/.),)
-	cd viam-cartographer && ./scripts/build_viam_cartographer.sh 
-else 
-	cd viam-cartographer && ./scripts/build_cartographer.sh && ./scripts/build_viam_cartographer.sh
+	$(error "Unsupported system. Only apt and brew currently supported.")
 endif
 
-build-debug: build-module
-ifneq ($(wildcard viam-cartographer/cartographer/build/.),)
-	cd viam-cartographer && ./scripts/build_viam_cartographer_debug.sh 
-else 
-	cd viam-cartographer && ./scripts/build_cartographer.sh && ./scripts/build_viam_cartographer_debug.sh
-endif
+build: ensure-submodule-initialized buf build-module
+	cd viam-cartographer && cmake -Bbuild -G Ninja ${EXTRA_CMAKE_FLAGS} && cmake --build build
+
+build-debug: EXTRA_CMAKE_FLAGS += -DCMAKE_BUILD_TYPE=Debug -DFORCE_DEBUG_BUILD=True
+build-debug: build
 
 build-module:
 	mkdir -p bin && go build $(GO_BUILD_LDFLAGS) -o bin/cartographer-module module/main.go
 
-install-lua-files:
-	sudo mkdir -p /usr/local/share/cartographer/lua_files/
-	sudo cp viam-cartographer/lua_files/* /usr/local/share/cartographer/lua_files/
-
 test-cpp:
 	viam-cartographer/build/unit_tests -p -l all
 
@@ -122,7 +121,11 @@ test-go:
 
 test: test-cpp test-go
 
-install:
+install-lua-files:
+	sudo mkdir -p /usr/local/share/cartographer/lua_files/
+	sudo cp viam-cartographer/lua_files/* /usr/local/share/cartographer/lua_files/
+
+install: install-lua-files
 	sudo rm -f /usr/local/bin/carto_grpc_server
 	sudo rm -f /usr/local/bin/cartographer-module
 	sudo cp viam-cartographer/build/carto_grpc_server /usr/local/bin/carto_grpc_server
diff --git a/README.md b/README.md
index d5d9b90f..409b858f 100644
--- a/README.md
+++ b/README.md
@@ -84,15 +84,11 @@ These containers are set to persist between sessions via the `persistent` parame
 #### Setup, build, and run the binary
 
 ```bash
-# Setup the gRPC files
-make bufinstall && make buf 
-# Install dependencies
+# Install dependencies using brew (or apt-get)
 make setup
-# Build & install the binary
+# Build
 make build
-# Install lua files
-make install-lua-files
-# Install the cartographer-module binary
+# Install lua files and binaries to /usr/local
 make install
 # Run the binary
 cartographer-module
diff --git a/cartofacade/cgo_api.go b/cartofacade/cgo_api.go
index b98d2718..d2d90ae5 100644
--- a/cartofacade/cgo_api.go
+++ b/cartofacade/cgo_api.go
@@ -8,7 +8,7 @@ package cartofacade
 	#cgo CFLAGS: -I../viam-cartographer/src/carto_facade
 
 	// the libraries that need to be linked can be derived from line 258 of the build.ninja file that is autogenerated during make build
-	#cgo LDFLAGS: -L../viam-cartographer/build -L../viam-cartographer/cartographer/build -lviam-cartographer  -lcartographer -ldl -lm -labsl_hash  -labsl_city -labsl_bad_optional_access -labsl_strerror  -labsl_str_format_internal -labsl_synchronization -labsl_strings -labsl_throw_delegate -lcairo -llua5.3 -lstdc++ -lceres -lprotobuf -lglog -lboost_filesystem -lboost_iostreams -lpcl_io -lpcl_common -labsl_raw_hash_set
+	#cgo LDFLAGS: -L../viam-cartographer/build -L../viam-cartographer/build/cartographer -lviam-cartographer  -lcartographer -ldl -lm -labsl_hash  -labsl_city -labsl_bad_optional_access -labsl_strerror  -labsl_str_format_internal -labsl_synchronization -labsl_strings -labsl_throw_delegate -lcairo -llua5.3 -lstdc++ -lceres -lprotobuf -lglog -lboost_filesystem -lboost_iostreams -lpcl_io -lpcl_common -labsl_raw_hash_set
 
 	#include "../viam-cartographer/src/carto_facade/carto_facade.h"
 
diff --git a/etc/packaging/appimages/cartographer-module-aarch64.yml b/etc/packaging/appimages/cartographer-module-aarch64.yml
index 5a9ea1db..3da9c741 100644
--- a/etc/packaging/appimages/cartographer-module-aarch64.yml
+++ b/etc/packaging/appimages/cartographer-module-aarch64.yml
@@ -7,13 +7,10 @@ script:
  - mkdir -p $TARGET_APPDIR/usr/share/cartographer/lua_files
  - cp ../../../bin/cartographer-module $TARGET_APPDIR/usr/bin/
  - cp ../../../viam-cartographer/build/carto_grpc_server $TARGET_APPDIR/usr/bin/
- - cp ../../../viam-cartographer/cartographer/build/libcartographer.a $TARGET_APPDIR/usr/lib/
- - cp ../../../viam-cartographer/build/libviam-cartographer.a $TARGET_APPDIR/usr/lib/
  - cp ../../../viam-cartographer/lua_files/* $TARGET_APPDIR/usr/share/cartographer/lua_files
  - mkdir -p $TARGET_APPDIR/usr/share/icons/viam/256x256/apps/
  - cp ./viam-server.png $TARGET_APPDIR/usr/share/icons/viam/256x256/apps/viam-server.png
- - go install github.com/Otterverse/aix@latest
- - cp `go env GOPATH`/bin/aix $TARGET_APPDIR/usr/bin/
+ - GOBIN=$TARGET_APPDIR/usr/bin/ go install github.com/Otterverse/aix@latest
  - chmod 755 $TARGET_APPDIR/usr/bin/*
 
 AppDir:
diff --git a/etc/packaging/appimages/cartographer-module-x86_64.yml b/etc/packaging/appimages/cartographer-module-x86_64.yml
index b113a4f2..18115da4 100644
--- a/etc/packaging/appimages/cartographer-module-x86_64.yml
+++ b/etc/packaging/appimages/cartographer-module-x86_64.yml
@@ -7,13 +7,10 @@ script:
  - mkdir -p $TARGET_APPDIR/usr/share/cartographer/lua_files
  - cp ../../../bin/cartographer-module $TARGET_APPDIR/usr/bin/
  - cp ../../../viam-cartographer/build/carto_grpc_server $TARGET_APPDIR/usr/bin/
- - cp ../../../viam-cartographer/cartographer/build/libcartographer.a $TARGET_APPDIR/usr/lib/
- - cp ../../../viam-cartographer/build/libviam-cartographer.a $TARGET_APPDIR/usr/lib/
  - cp ../../../viam-cartographer/lua_files/* $TARGET_APPDIR/usr/share/cartographer/lua_files
  - mkdir -p $TARGET_APPDIR/usr/share/icons/viam/256x256/apps/
  - cp ./viam-server.png $TARGET_APPDIR/usr/share/icons/viam/256x256/apps/viam-server.png
- - go install github.com/Otterverse/aix@latest
- - cp `go env GOPATH`/bin/aix $TARGET_APPDIR/usr/bin/
+ - GOBIN=$TARGET_APPDIR/usr/bin/ go install github.com/Otterverse/aix@latest
  - chmod 755 $TARGET_APPDIR/usr/bin/*
 
 AppDir:
diff --git a/viam-cartographer/CMakeLists.txt b/viam-cartographer/CMakeLists.txt
index 8530008d..ca81a9f3 100644
--- a/viam-cartographer/CMakeLists.txt
+++ b/viam-cartographer/CMakeLists.txt
@@ -1,237 +1,80 @@
 cmake_minimum_required(VERSION 3.2)
 
 project(viam-cartographer)
-add_definitions(-DABSL_LEGACY_THREAD_ANNOTATIONS)
+set (CMAKE_CXX_STANDARD 17)
 
-set(VIAM_CARTOGRAPHER_MAJOR_VERSION 1)
-set(VIAM_CARTOGRAPHER_MINOR_VERSION 0)
-set(VIAM_CARTOGRAPHER_PATCH_VERSION 0)
-set(VIAM_CARTOGRAPHER_VERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}.${CARTOGRAPHER_PATCH_VERSION})
-set(VIAM_CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION})
+if(DEFINED ENV{API_SOURCE_DIR})
+  set(API_SOURCE_DIR $ENV{API_SOURCE_DIR})
+else()
+  set(API_SOURCE_DIR ${PROJECT_SOURCE_DIR}/..)
+endif()
+set(GRPC_SRC_DIR ${API_SOURCE_DIR}/grpc/cpp/gen)
 
-include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
+if(NOT EXISTS ${GRPC_SRC_DIR})
+message(FATAL_ERROR
+  "RDK C++ gRPC gen files not found. Please specify the absolute path to your API_SOURCE_DIR e.g. 'export API_SOURCE_DIR=/home/user/api'"
+)
+endif()
 
-find_package(absl REQUIRED)
-find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
-find_package(Lua 5.2 REQUIRED)
+message("PROJECT SOURCE DIR: " ${PROJECT_SOURCE_DIR})
+message("API SOURCE DIR: " ${API_SOURCE_DIR})
+message("GRPC SOURCE DIR: " ${GRPC_SRC_DIR})
 
-# include files/library from cartographer submodule
-include_directories(${PROJECT_SOURCE_DIR}/cartographer)
-include_directories(${PROJECT_SOURCE_DIR}/cartographer/build)
-link_libraries(${PROJECT_SOURCE_DIR}/cartographer/build/libcartographer.a)
 
-find_package(PCL REQUIRED)
-include_directories(${PCL_INCLUDE_DIRS})
-link_directories(${PCL_LIBRARY_DIRS})
-add_definitions(${PCL_DEFINITIONS})
+# dependencies
+add_subdirectory(cartographer)
 
-find_package(OpenSSL REQUIRED)
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(GRPCPP REQUIRED grpc++)
 
-if(WIN32)
-  # On Windows, Protobuf is incorrectly found by the bundled CMake module, so prefer native CMake config.
-  set(protobuf_MODULE_COMPATIBLE TRUE CACHE INTERNAL "")
-  find_package(Protobuf 3.0.0 CONFIG)
-else()
-  find_package(Protobuf 3.4.0 REQUIRED)
-endif()
+find_package(absl REQUIRED)
+add_definitions(-DABSL_LEGACY_THREAD_ANNOTATIONS)
+
+find_package(PCL REQUIRED)
 
-include(FindPkgConfig)
-if (NOT WIN32)
-  PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
-else()
-  find_library(CAIRO_LIBRARIES cairo)
-endif()
 
+# build sources list
 file(GLOB_RECURSE ALL_VIAM_HDRS "src/*.h")
 file(GLOB_RECURSE ALL_VIAM_SRCS "src/*.cc")
 file(GLOB_RECURSE ALL_VIAM_C_SRCS "src/*.c")
 file(GLOB_RECURSE ALL_VIAM_TEST_SRCS "src/*_test.cc")
 list(REMOVE_ITEM ALL_VIAM_SRCS ${ALL_VIAM_TEST_SRCS})
 
-
-if(DEFINED ENV{API_SOURCE_DIR})
-  set(API_SOURCE_DIR $ENV{API_SOURCE_DIR})
-else()
-  set(API_SOURCE_DIR ${PROJECT_SOURCE_DIR}/..)
+# remove dotfiles/-folders that could potentially pollute the build.
+file(GLOB_RECURSE ALL_DOTFILES ".*/*")
+if (ALL_DOTFILES)
+  list(REMOVE_ITEM ALL_VIAM_HDRS ${ALL_DOTFILES})
+  list(REMOVE_ITEM ALL_VIAM_SRCS ${ALL_DOTFILES})
 endif()
-set(SRCDIR ${API_SOURCE_DIR}/grpc/cpp/gen)
 
-message("PROJECT SOURCE DIR: " ${PROJECT_SOURCE_DIR})
-message("API SOURCE DIR: " ${API_SOURCE_DIR})
-message("GRPC SOURCE DIR: " ${SRCDIR})
-
-if(EXISTS ${SRCDIR})
-  find_package(PkgConfig REQUIRED)
-
-  pkg_check_modules(GRPC REQUIRED grpc)
-  pkg_check_modules(GRPCPP REQUIRED grpc++)
-
-  set(SOURCES ${SRCDIR}/service/slam/v1/slam.grpc.pb.cc
-              ${SRCDIR}/service/slam/v1/slam.pb.cc)
-  set(SOURCES ${SOURCES} ${SRCDIR}/common/v1/common.grpc.pb.cc
-              ${SRCDIR}/common/v1/common.pb.cc)
-  set(SOURCES ${SOURCES} ${SRCDIR}/google/api/annotations.pb.cc
-              ${SRCDIR}/google/api/httpbody.pb.cc)
-  set(SOURCES ${SOURCES} ${SRCDIR}/google/api/http.pb.cc)
-
-
-  # Remove dotfiles/-folders that could potentially pollute the build.
-  file(GLOB_RECURSE ALL_DOTFILES ".*/*")
-  if (ALL_DOTFILES)
-    list(REMOVE_ITEM ALL_VIAM_HDRS ${ALL_DOTFILES})
-    list(REMOVE_ITEM ALL_VIAM_SRCS ${ALL_DOTFILES})
-  endif()
-
-  list(APPEND ALL_LIBRARY_HDRS ${ALL_VIAM_HDRS})
-  list(APPEND ALL_LIBRARY_SRCS ${ALL_VIAM_SRCS})
-  list(APPEND ALL_LIBRARY_SRCS ${ALL_VIAM_C_SRCS})
-
-
-  add_library(${PROJECT_NAME} STATIC ${ALL_LIBRARY_HDRS} ${ALL_LIBRARY_SRCS} ${SOURCES})
-  target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${SRCDIR})
-
-  configure_file(
-    ${PROJECT_SOURCE_DIR}/cartographer/cartographer/common/config.h.cmake
-    ${PROJECT_BINARY_DIR}/common/config.h)
-
-  message("PROJECT_SOURCE_DIR and PROJECT_BINARY_DIR: ${PROJECT_SOURCE_DIR}, ${PROJECT_BINARY_DIR}")
-
-  google_binary(carto_grpc_server
-    SRCS
-      src/main.cc
-  )
-
-  google_binary(unit_tests
-    SRCS
-      ${ALL_VIAM_TEST_SRCS}
-  )
-
-  target_link_libraries(carto_grpc_server PUBLIC
-    ${GRPC_LIBRARIES}
-    ${GRPCPP_LIBRARIES}
-    ${PROTOBUF_LIBRARIES}
-    ${JPEG_LIBRARIES})
-  target_include_directories(carto_grpc_server SYSTEM PUBLIC
-    ${SRCDIR}
-    ${GRPC_INCLUDE_DIRS}
-    ${GRPCPP_INCLUDE_DIRS}
-    ${PROTOBUF_INCLUDE_DIRS}
-    ${JPEG_INCLUDE_DIRS})
-  target_compile_options(carto_grpc_server PUBLIC
-    ${GRPC_CFLAGS_OTHER}
-    ${GRPCPP_CFLAGS_OTHER}
-    ${PROTOBUF_CFLAGS_OTHER}
-    ${JPEG_CFLAGS_OTHER})
-
-  target_link_libraries(unit_tests PUBLIC
-    ${GRPC_LIBRARIES}
-    ${GRPCPP_LIBRARIES}
-    ${PROTOBUF_LIBRARIES}
-    ${JPEG_LIBRARIES})
-  target_include_directories(unit_tests SYSTEM PUBLIC
-    ${SRCDIR}
-    ${GRPC_INCLUDE_DIRS}
-    ${GRPCPP_INCLUDE_DIRS}
-    ${PROTOBUF_INCLUDE_DIRS}
-    ${JPEG_INCLUDE_DIRS})
-  target_compile_options(unit_tests PUBLIC
-    ${GRPC_CFLAGS_OTHER}
-    ${GRPCPP_CFLAGS_OTHER}
-    ${PROTOBUF_CFLAGS_OTHER}
-    ${JPEG_CFLAGS_OTHER})
-
-  target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
-    "${CERES_INCLUDE_DIRS}")
-  target_link_libraries(${PROJECT_NAME} PUBLIC ${CERES_LIBRARIES})
-
-  target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
-    "${LUA_INCLUDE_DIR}")
-  target_link_libraries(${PROJECT_NAME} PUBLIC ${LUA_LIBRARIES})
-
-  if (WIN32)
-    find_package(glog REQUIRED)
-    set(GLOG_LIBRARY glog::glog)
-  else()
-    set(GLOG_LIBRARY glog)
-  endif()
-
-  target_link_libraries(${PROJECT_NAME} PUBLIC ${GLOG_LIBRARY})
-  target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
-  if(WIN32)
-    # Needed to fix conflict with MSVC's error macro.
-    target_compile_definitions(${PROJECT_NAME} PUBLIC -DGLOG_NO_ABBREVIATED_SEVERITIES)
-  endif()
-  if(MSVC)
-    # Needed for VS 2017 5.8
-    target_compile_definitions(${PROJECT_NAME} PUBLIC -D_ENABLE_EXTENDED_ALIGNED_STORAGE -D_USE_MATH_DEFINES)
-  endif()
-
-  if("${CAIRO_INCLUDE_DIRS}")
-    target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
-      "${CAIRO_INCLUDE_DIRS}")
-  endif()
-
-  target_link_libraries(${PROJECT_NAME} PUBLIC ${CAIRO_LIBRARIES})
-  target_link_libraries(${PROJECT_NAME} PUBLIC ${PCL_LIBRARIES})
-
-  target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} 
-    absl::algorithm
-    absl::base
-    absl::debugging
-    absl::flat_hash_map
-    absl::memory
-    absl::meta
-    absl::numeric
-    absl::str_format
-    absl::strings
-    absl::synchronization
-    absl::time
-    absl::utility 
-  )
-  if (NOT WIN32)
-    target_link_libraries(${PROJECT_NAME} PUBLIC pthread)
-  endif()
-
-  set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
-  set_target_properties(${PROJECT_NAME} PROPERTIES
-    COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
-
-  # Add the binary directory first, so that port.h is included after it has
-  # been generated.
-  target_include_directories(${PROJECT_NAME} PUBLIC
-      $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}>
-      $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}>
-      $<INSTALL_INTERFACE:include>
-  )
-
-  install(
-    TARGETS ${PROJECT_NAME}
-    EXPORT CartographerExport
-    ARCHIVE DESTINATION lib
-    LIBRARY DESTINATION lib
-    RUNTIME DESTINATION bin
-  )
-
-  foreach(HDR ${INSTALL_SOURCE_HDRS})
-    file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${HDR})
-    get_filename_component(DIR ${REL_FIL} DIRECTORY)
-    install(
-      FILES ${HDR}
-      DESTINATION include/${DIR}
-    )
-  endforeach()
-
-  foreach(HDR ${INSTALL_GENERATED_HDRS})
-    file(RELATIVE_PATH REL_FIL ${PROJECT_BINARY_DIR} ${HDR})
-    get_filename_component(DIR ${REL_FIL} DIRECTORY)
-    install(
-      FILES ${HDR}
-      DESTINATION include/${DIR}
-    )
-  endforeach()
-else()
-message(
-  FATAL_ERROR
-    "RDK C++ gRPC gen files not found. Please specify the absolute path to your API_SOURCE_DIR e.g. 'export API_SOURCE_DIR=/home/user/api'"
+# combine sources
+list(APPEND ALL_LIBRARY_HDRS ${ALL_VIAM_HDRS})
+list(APPEND ALL_LIBRARY_SRCS ${ALL_VIAM_SRCS})
+list(APPEND ALL_LIBRARY_SRCS ${ALL_VIAM_C_SRCS})
+
+# add grpc/API sources
+set(GRPC_SRCS
+  ${GRPC_SRC_DIR}/service/slam/v1/slam.grpc.pb.cc
+  ${GRPC_SRC_DIR}/service/slam/v1/slam.pb.cc
+  ${GRPC_SRC_DIR}/common/v1/common.grpc.pb.cc
+  ${GRPC_SRC_DIR}/common/v1/common.pb.cc
+  ${GRPC_SRC_DIR}/google/api/annotations.pb.cc
+  ${GRPC_SRC_DIR}/google/api/httpbody.pb.cc
+  ${GRPC_SRC_DIR}/google/api/http.pb.cc
 )
-endif()  
+
+# the viam-cartographer library
+add_library(${PROJECT_NAME} STATIC ${ALL_LIBRARY_HDRS} ${ALL_LIBRARY_SRCS} ${GRPC_SRCS})
+target_include_directories(${PROJECT_NAME} PUBLIC $<BUILD_INTERFACE:${GRPC_SRC_DIR}>)
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  cartographer
+  ${GRPCPP_LIBRARIES}
+  ${PCL_LIBRARIES}
+)
+
+# executables
+add_executable(carto_grpc_server src/main.cc)
+target_link_libraries(carto_grpc_server PUBLIC viam-cartographer)
+
+add_executable(unit_tests ${ALL_VIAM_TEST_SRCS})
+target_link_libraries(unit_tests PUBLIC viam-cartographer)
diff --git a/viam-cartographer/cartographer_build_utils/CMakeLists.txt b/viam-cartographer/cartographer_build_utils/CMakeLists.txt
deleted file mode 100644
index f0906075..00000000
--- a/viam-cartographer/cartographer_build_utils/CMakeLists.txt
+++ /dev/null
@@ -1,246 +0,0 @@
-cmake_minimum_required(VERSION 3.2)
-
-project(cartographer)
-add_definitions(-DABSL_LEGACY_THREAD_ANNOTATIONS)
-
-set(CARTOGRAPHER_MAJOR_VERSION 1)
-set(CARTOGRAPHER_MINOR_VERSION 0)
-set(CARTOGRAPHER_PATCH_VERSION 0)
-set(CARTOGRAPHER_VERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}.${CARTOGRAPHER_PATCH_VERSION})
-set(CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION})
-
-include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
-google_initialize_cartographer_project()
-
-find_package(absl REQUIRED)
-set(BOOST_COMPONENTS iostreams)
-if(WIN32)
-  list(APPEND BOOST_COMPONENTS zlib)
-  set(Boost_USE_STATIC_LIBS FALSE)
-endif()
-find_package(Boost REQUIRED COMPONENTS ${BOOST_COMPONENTS})
-find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
-find_package(Eigen3 REQUIRED)
-find_package(Lua 5.2 REQUIRED)
-
-if(WIN32)
-  # On Windows, Protobuf is incorrectly found by the bundled CMake module, so prefer native CMake config.
-  set(protobuf_MODULE_COMPATIBLE TRUE CACHE INTERNAL "")
-  find_package(Protobuf 3.0.0 CONFIG)
-else()
-  find_package(Protobuf 3.4.0 REQUIRED)
-endif()
-
-include(FindPkgConfig)
-if (NOT WIN32)
-  PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
-else()
-  find_library(CAIRO_LIBRARIES cairo)
-endif()
-
-# Install catkin package.xml
-install(FILES package.xml DESTINATION share/cartographer)
-
-set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY ${CMAKE_INSTALL_PREFIX}/share/cartographer/configuration_files
-  CACHE PATH ".lua configuration files directory")
-
-install(DIRECTORY configuration_files DESTINATION share/cartographer/)
-
-install(DIRECTORY cmake DESTINATION share/cartographer/)
-
-file(GLOB_RECURSE ALL_LIBRARY_HDRS "cartographer/*.h")
-file(GLOB_RECURSE ALL_LIBRARY_SRCS "cartographer/*.cc")
-file(GLOB_RECURSE ALL_EXECUTABLES "cartographer/*_main.cc")
-
-# Remove dotfiles/-folders that could potentially pollute the build.
-file(GLOB_RECURSE ALL_DOTFILES ".*/*")
-if (ALL_DOTFILES)
-  list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_DOTFILES})
-  list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_DOTFILES})
-  list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_DOTFILES})
-endif()
-list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_EXECUTABLES})
-file(GLOB_RECURSE ALL_GRPC_FILES "cartographer/cloud/*")
-file(GLOB_RECURSE ALL_PROMETHEUS_FILES "cartographer/cloud/metrics/prometheus/*")
-list(REMOVE_ITEM ALL_GRPC_FILES ${ALL_PROMETHEUS_FILES})
-
-# GRPC files are part of the cartographer library - but we don't need them.
-list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_GRPC_FILES})
-list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_GRPC_FILES})
-list(REMOVE_ITEM TEST_LIBRARY_HDRS ${ALL_GRPC_FILES})
-list(REMOVE_ITEM TEST_LIBRARY_SRCS ${ALL_GRPC_FILES})
-list(REMOVE_ITEM ALL_TESTS ${ALL_GRPC_FILES})
-list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_GRPC_FILES})
-  
-# Prometheus files are part of the cartographer library - but we don't need them.
-list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_PROMETHEUS_FILES})
-list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_PROMETHEUS_FILES})
-list(REMOVE_ITEM TEST_LIBRARY_HDRS ${ALL_PROMETHEUS_FILES})
-list(REMOVE_ITEM TEST_LIBRARY_SRCS ${ALL_PROMETHEUS_FILES})
-list(REMOVE_ITEM ALL_TESTS ${ALL_PROMETHEUS_FILES})
-list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_PROMETHEUS_FILES})
-
-set(INSTALL_SOURCE_HDRS ${ALL_LIBRARY_HDRS} ${TEST_LIBRARY_HDRS})
-# file(GLOB_RECURSE INTERNAL_HDRS "cartographer/*/internal/*.h")
-# list(REMOVE_ITEM INSTALL_SOURCE_HDRS ${INTERNAL_HDRS})
-
-file(GLOB_RECURSE ALL_PROTOS "cartographer/*.proto")
-file(GLOB_RECURSE ALL_GRPC_SERVICES "cartographer/*_service.proto")
-list(REMOVE_ITEM ALL_PROTOS ALL_GRPC_SERVICES)
-if (NOT ${BUILD_GRPC})
-  list(REMOVE_ITEM ALL_PROTOS ${ALL_GRPC_FILES})
-endif()
-
-# TODO(cschuet): Move proto compilation to separate function.
-set(ALL_PROTO_SRCS)
-set(ALL_PROTO_HDRS)
-foreach(ABS_FIL ${ALL_PROTOS})
-  file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${ABS_FIL})
-  get_filename_component(DIR ${REL_FIL} DIRECTORY)
-  get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
-
-  list(APPEND ALL_PROTO_SRCS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc")
-  list(APPEND ALL_PROTO_HDRS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h")
-
-  add_custom_command(
-    OUTPUT "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc"
-           "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h"
-    COMMAND  ${PROTOBUF_PROTOC_EXECUTABLE}
-    ARGS --cpp_out  ${PROJECT_BINARY_DIR} -I
-      ${PROJECT_SOURCE_DIR} ${ABS_FIL}
-    DEPENDS ${ABS_FIL}
-    COMMENT "Running C++ protocol buffer compiler on ${ABS_FIL}"
-    VERBATIM
-  )
-endforeach()
-set_source_files_properties(${ALL_PROTO_SRCS} ${ALL_PROTO_HDRS} PROPERTIES GENERATED TRUE)
-list(APPEND ALL_LIBRARY_HDRS ${ALL_PROTO_HDRS})
-list(APPEND ALL_LIBRARY_SRCS ${ALL_PROTO_SRCS})
-
-set(INSTALL_GENERATED_HDRS ${ALL_PROTO_HDRS} ${ALL_GRPC_SERVICE_HDRS})
-
-add_library(${PROJECT_NAME} STATIC ${ALL_LIBRARY_HDRS} ${ALL_LIBRARY_SRCS})
-
-configure_file(
-  ${PROJECT_SOURCE_DIR}/cartographer/common/config.h.cmake
-  ${PROJECT_BINARY_DIR}/cartographer/common/config.h)
-
-target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
-  "${EIGEN3_INCLUDE_DIR}")
-target_link_libraries(${PROJECT_NAME} PUBLIC ${EIGEN3_LIBRARIES})
-
-target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
-  "${CERES_INCLUDE_DIRS}")
-target_link_libraries(${PROJECT_NAME} PUBLIC ${CERES_LIBRARIES})
-
-target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
-  "${LUA_INCLUDE_DIR}")
-target_link_libraries(${PROJECT_NAME} PUBLIC ${LUA_LIBRARIES})
-
-target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
-  "${Boost_INCLUDE_DIRS}")
-target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES})
-
-if (WIN32)
-  find_package(glog REQUIRED)
-  set(GLOG_LIBRARY glog::glog)
-else()
-  set(GLOG_LIBRARY glog)
-endif()
-
-target_link_libraries(${PROJECT_NAME} PUBLIC ${GLOG_LIBRARY})
-target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
-if(WIN32)
-  # Needed to fix conflict with MSVC's error macro.
-  target_compile_definitions(${PROJECT_NAME} PUBLIC -DGLOG_NO_ABBREVIATED_SEVERITIES)
-endif()
-if(MSVC)
-  # Needed for VS 2017 5.8
-  target_compile_definitions(${PROJECT_NAME} PUBLIC -D_ENABLE_EXTENDED_ALIGNED_STORAGE -D_USE_MATH_DEFINES)
-endif()
-
-if("${CAIRO_INCLUDE_DIRS}")
-  target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
-    "${CAIRO_INCLUDE_DIRS}")
-endif()
-target_link_libraries(${PROJECT_NAME} PUBLIC ${CAIRO_LIBRARIES})
-
-target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
-  ${PROTOBUF_INCLUDE_DIR})
-# TODO(hrapp): This should not explicitly list pthread and use
-# PROTOBUF_LIBRARIES, but that failed on first try.
-target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} 
-  absl::algorithm
-  absl::base
-  absl::debugging
-  absl::flat_hash_map
-  absl::memory
-  absl::meta
-  absl::numeric
-  absl::str_format
-  absl::strings
-  absl::synchronization
-  absl::time
-  absl::utility 
-)
-if (NOT WIN32)
-  target_link_libraries(${PROJECT_NAME} PUBLIC pthread)
-endif()
-
-set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
-set_target_properties(${PROJECT_NAME} PROPERTIES
-  COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
-
-# Add the binary directory first, so that port.h is included after it has
-# been generated.
-target_include_directories(${PROJECT_NAME} PUBLIC
-    $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}>
-    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}>
-    $<INSTALL_INTERFACE:include>
-)
-
-install(
-  TARGETS ${PROJECT_NAME}
-  EXPORT CartographerExport
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-)
-
-foreach(HDR ${INSTALL_SOURCE_HDRS})
-  file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${HDR})
-  get_filename_component(DIR ${REL_FIL} DIRECTORY)
-  install(
-    FILES ${HDR}
-    DESTINATION include/${DIR}
-  )
-endforeach()
-
-foreach(HDR ${INSTALL_GENERATED_HDRS})
-  file(RELATIVE_PATH REL_FIL ${PROJECT_BINARY_DIR} ${HDR})
-  get_filename_component(DIR ${REL_FIL} DIRECTORY)
-  install(
-    FILES ${HDR}
-    DESTINATION include/${DIR}
-  )
-endforeach()
-
-set(CARTOGRAPHER_CMAKE_DIR share/cartographer/cmake)
-include(CMakePackageConfigHelpers)
-configure_package_config_file(
-  cartographer-config.cmake.in
-  ${PROJECT_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake
-  PATH_VARS CARTOGRAPHER_CMAKE_DIR
-  INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/cartographer
-)
-
-install(
-  EXPORT CartographerExport
-  DESTINATION share/cartographer/cmake/
-  FILE CartographerTargets.cmake
-)
-
-install(
-  FILES ${PROJECT_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake
-  DESTINATION share/cartographer/
-)
diff --git a/viam-cartographer/cartographer_patches/carto.patch b/viam-cartographer/cartographer_patches/carto.patch
new file mode 100644
index 00000000..6d36915d
--- /dev/null
+++ b/viam-cartographer/cartographer_patches/carto.patch
@@ -0,0 +1,304 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index ef2fcb3..ba98945 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,33 +1,17 @@
+-# Copyright 2016 The Cartographer Authors
+-#
+-# Licensed under the Apache License, Version 2.0 (the "License");
+-# you may not use this file except in compliance with the License.
+-# You may obtain a copy of the License at
+-#
+-#      http://www.apache.org/licenses/LICENSE-2.0
+-#
+-# Unless required by applicable law or agreed to in writing, software
+-# distributed under the License is distributed on an "AS IS" BASIS,
+-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+-# See the License for the specific language governing permissions and
+-# limitations under the License.
+-
++# viam-patched version
+ cmake_minimum_required(VERSION 3.2)
+ 
+ project(cartographer)
++add_definitions(-DABSL_LEGACY_THREAD_ANNOTATIONS)
+ 
+ set(CARTOGRAPHER_MAJOR_VERSION 1)
+ set(CARTOGRAPHER_MINOR_VERSION 0)
+ set(CARTOGRAPHER_PATCH_VERSION 0)
+ set(CARTOGRAPHER_VERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}.${CARTOGRAPHER_PATCH_VERSION})
+ set(CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION})
+-option(BUILD_GRPC "build Cartographer gRPC support" false)
+-set(CARTOGRAPHER_HAS_GRPC ${BUILD_GRPC})
+-option(BUILD_PROMETHEUS "build Prometheus monitoring support" false)
+ 
+ include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
+ google_initialize_cartographer_project()
+-google_enable_testing()
+ 
+ find_package(absl REQUIRED)
+ set(BOOST_COMPONENTS iostreams)
+@@ -38,21 +22,14 @@ endif()
+ find_package(Boost REQUIRED COMPONENTS ${BOOST_COMPONENTS})
+ find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
+ find_package(Eigen3 REQUIRED)
+-find_package(LuaGoogle REQUIRED)
++find_package(Lua 5.2 REQUIRED)
++
+ if(WIN32)
+   # On Windows, Protobuf is incorrectly found by the bundled CMake module, so prefer native CMake config.
+   set(protobuf_MODULE_COMPATIBLE TRUE CACHE INTERNAL "")
+   find_package(Protobuf 3.0.0 CONFIG)
+ else()
+-  find_package(Protobuf 3.0.0 REQUIRED)
+-endif()
+-
+-if (${BUILD_GRPC})
+-  find_package(async_grpc REQUIRED)
+-endif()
+-
+-if(${BUILD_PROMETHEUS})
+-  find_package( ZLIB REQUIRED )
++  find_package(Protobuf 3.4.0 REQUIRED)
+ endif()
+ 
+ include(FindPkgConfig)
+@@ -62,12 +39,6 @@ else()
+   find_library(CAIRO_LIBRARIES cairo)
+ endif()
+ 
+-# Only build the documentation if we can find Sphinx.
+-find_package(Sphinx)
+-if(SPHINX_FOUND)
+-  add_subdirectory("docs")
+-endif()
+-
+ # Install catkin package.xml
+ install(FILES package.xml DESTINATION share/cartographer)
+ 
+@@ -80,9 +51,6 @@ install(DIRECTORY cmake DESTINATION share/cartographer/)
+ 
+ file(GLOB_RECURSE ALL_LIBRARY_HDRS "cartographer/*.h")
+ file(GLOB_RECURSE ALL_LIBRARY_SRCS "cartographer/*.cc")
+-file(GLOB_RECURSE TEST_LIBRARY_HDRS "cartographer/fake_*.h" "cartographer/*test_helpers*.h" "cartographer/mock_*.h")
+-file(GLOB_RECURSE TEST_LIBRARY_SRCS "cartographer/fake_*.cc" "cartographer/*test_helpers*.cc" "cartographer/mock_*.cc")
+-file(GLOB_RECURSE ALL_TESTS "cartographer/*_test.cc")
+ file(GLOB_RECURSE ALL_EXECUTABLES "cartographer/*_main.cc")
+ 
+ # Remove dotfiles/-folders that could potentially pollute the build.
+@@ -90,37 +58,32 @@ file(GLOB_RECURSE ALL_DOTFILES ".*/*")
+ if (ALL_DOTFILES)
+   list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_DOTFILES})
+   list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_DOTFILES})
+-  list(REMOVE_ITEM TEST_LIBRARY_HDRS ${ALL_DOTFILES})
+-  list(REMOVE_ITEM TEST_LIBRARY_SRCS ${ALL_DOTFILES})
+-  list(REMOVE_ITEM ALL_TESTS ${ALL_DOTFILES})
+   list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_DOTFILES})
+ endif()
+ list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_EXECUTABLES})
+-list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_TESTS})
+-list(REMOVE_ITEM ALL_LIBRARY_HDRS ${TEST_LIBRARY_HDRS})
+-list(REMOVE_ITEM ALL_LIBRARY_SRCS ${TEST_LIBRARY_SRCS})
+ file(GLOB_RECURSE ALL_GRPC_FILES "cartographer/cloud/*")
+ file(GLOB_RECURSE ALL_PROMETHEUS_FILES "cartographer/cloud/metrics/prometheus/*")
+ list(REMOVE_ITEM ALL_GRPC_FILES ${ALL_PROMETHEUS_FILES})
+-if (NOT ${BUILD_GRPC})
+-  list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_GRPC_FILES})
+-  list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_GRPC_FILES})
+-  list(REMOVE_ITEM TEST_LIBRARY_HDRS ${ALL_GRPC_FILES})
+-  list(REMOVE_ITEM TEST_LIBRARY_SRCS ${ALL_GRPC_FILES})
+-  list(REMOVE_ITEM ALL_TESTS ${ALL_GRPC_FILES})
+-  list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_GRPC_FILES})
+-endif()
+-if (NOT ${BUILD_PROMETHEUS})
+-  list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_PROMETHEUS_FILES})
+-  list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_PROMETHEUS_FILES})
+-  list(REMOVE_ITEM TEST_LIBRARY_HDRS ${ALL_PROMETHEUS_FILES})
+-  list(REMOVE_ITEM TEST_LIBRARY_SRCS ${ALL_PROMETHEUS_FILES})
+-  list(REMOVE_ITEM ALL_TESTS ${ALL_PROMETHEUS_FILES})
+-  list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_PROMETHEUS_FILES})
+-endif()
++
++# GRPC files are part of the cartographer library - but we don't need them.
++list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_GRPC_FILES})
++list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_GRPC_FILES})
++list(REMOVE_ITEM TEST_LIBRARY_HDRS ${ALL_GRPC_FILES})
++list(REMOVE_ITEM TEST_LIBRARY_SRCS ${ALL_GRPC_FILES})
++list(REMOVE_ITEM ALL_TESTS ${ALL_GRPC_FILES})
++list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_GRPC_FILES})
++
++# Prometheus files are part of the cartographer library - but we don't need them.
++list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_PROMETHEUS_FILES})
++list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_PROMETHEUS_FILES})
++list(REMOVE_ITEM TEST_LIBRARY_HDRS ${ALL_PROMETHEUS_FILES})
++list(REMOVE_ITEM TEST_LIBRARY_SRCS ${ALL_PROMETHEUS_FILES})
++list(REMOVE_ITEM ALL_TESTS ${ALL_PROMETHEUS_FILES})
++list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_PROMETHEUS_FILES})
++
+ set(INSTALL_SOURCE_HDRS ${ALL_LIBRARY_HDRS} ${TEST_LIBRARY_HDRS})
+-file(GLOB_RECURSE INTERNAL_HDRS "cartographer/*/internal/*.h")
+-list(REMOVE_ITEM INSTALL_SOURCE_HDRS ${INTERNAL_HDRS})
++# file(GLOB_RECURSE INTERNAL_HDRS "cartographer/*/internal/*.h")
++# list(REMOVE_ITEM INSTALL_SOURCE_HDRS ${INTERNAL_HDRS})
+ 
+ file(GLOB_RECURSE ALL_PROTOS "cartographer/*.proto")
+ file(GLOB_RECURSE ALL_GRPC_SERVICES "cartographer/*_service.proto")
+@@ -155,33 +118,6 @@ set_source_files_properties(${ALL_PROTO_SRCS} ${ALL_PROTO_HDRS} PROPERTIES GENER
+ list(APPEND ALL_LIBRARY_HDRS ${ALL_PROTO_HDRS})
+ list(APPEND ALL_LIBRARY_SRCS ${ALL_PROTO_SRCS})
+ 
+-if(${BUILD_GRPC})
+-  set(ALL_GRPC_SERVICE_SRCS)
+-  set(ALL_GRPC_SERVICE_HDRS)
+-  foreach(ABS_FIL ${ALL_GRPC_SERVICES})
+-    file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${ABS_FIL})
+-    get_filename_component(DIR ${REL_FIL} DIRECTORY)
+-    get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
+-
+-    list(APPEND ALL_GRPC_SERVICE_SRCS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc")
+-    list(APPEND ALL_GRPC_SERVICE_HDRS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h")
+-
+-    add_custom_command(
+-      OUTPUT "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc"
+-             "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h"
+-      COMMAND  ${PROTOBUF_PROTOC_EXECUTABLE}
+-      ARGS --cpp_out  ${PROJECT_BINARY_DIR}
+-        -I ${PROJECT_SOURCE_DIR}
+-        ${ABS_FIL}
+-      DEPENDS ${ABS_FIL}
+-      COMMENT "Running C++ protocol buffer compiler on ${ABS_FIL}"
+-      VERBATIM
+-    )
+-  endforeach()
+-  set_source_files_properties(${ALL_GRPC_SERVICE_SRCS} ${ALL_GRPC_SERVICE_HDRS} PROPERTIES GENERATED TRUE)
+-  list(APPEND ALL_LIBRARY_HDRS ${ALL_GRPC_SERVICE_HDRS})
+-  list(APPEND ALL_LIBRARY_SRCS ${ALL_GRPC_SERVICE_SRCS})
+-endif()
+ set(INSTALL_GENERATED_HDRS ${ALL_PROTO_HDRS} ${ALL_GRPC_SERVICE_HDRS})
+ 
+ add_library(${PROJECT_NAME} STATIC ${ALL_LIBRARY_HDRS} ${ALL_LIBRARY_SRCS})
+@@ -190,46 +126,10 @@ configure_file(
+   ${PROJECT_SOURCE_DIR}/cartographer/common/config.h.cmake
+   ${PROJECT_BINARY_DIR}/cartographer/common/config.h)
+ 
+-google_binary(cartographer_autogenerate_ground_truth
+-  SRCS
+-    cartographer/ground_truth/autogenerate_ground_truth_main.cc
+-)
+-
+-google_binary(cartographer_compute_relations_metrics
+-  SRCS
+-    cartographer/ground_truth/compute_relations_metrics_main.cc
+-)
+-
+-google_binary(cartographer_pbstream
+-  SRCS
+-  cartographer/io/pbstream_main.cc
+-)
+-
+-google_binary(cartographer_print_configuration
+-  SRCS
+-  cartographer/common/print_configuration_main.cc
+-)
+-
+-if(${BUILD_GRPC})
+-  google_binary(cartographer_grpc_server
+-    SRCS
+-      cartographer/cloud/map_builder_server_main.cc
+-  )
+-  target_link_libraries(cartographer_grpc_server PUBLIC grpc++)
+-  target_link_libraries(cartographer_grpc_server PUBLIC async_grpc)
+-  if(${BUILD_PROMETHEUS})
+-    target_link_libraries(cartographer_grpc_server PUBLIC ${ZLIB_LIBRARIES})
+-    target_link_libraries(cartographer_grpc_server PUBLIC prometheus-cpp-core)
+-    target_link_libraries(cartographer_grpc_server PUBLIC prometheus-cpp-pull)
+-  endif()
+-endif()
+-
+ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+   "${EIGEN3_INCLUDE_DIR}")
+ target_link_libraries(${PROJECT_NAME} PUBLIC ${EIGEN3_LIBRARIES})
+ 
+-target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+-  "${CERES_INCLUDE_DIRS}")
+ target_link_libraries(${PROJECT_NAME} PUBLIC ${CERES_LIBRARIES})
+ 
+ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+@@ -280,60 +180,19 @@ target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY}
+   absl::strings
+   absl::synchronization
+   absl::time
+-  absl::utility 
++  absl::utility
+ )
++if (TARGET absl::log_internal_check_op)
++  target_link_libraries(${PROJECT_NAME} PUBLIC absl::log_internal_check_op)
++endif()
+ if (NOT WIN32)
+   target_link_libraries(${PROJECT_NAME} PUBLIC pthread)
+ endif()
+-if(${BUILD_GRPC})
+-  target_link_libraries(${PROJECT_NAME} PUBLIC grpc++)
+-  target_link_libraries(${PROJECT_NAME} PUBLIC async_grpc)
+-endif()
+-if(${BUILD_PROMETHEUS})
+-  target_link_libraries(${PROJECT_NAME} PUBLIC ${ZLIB_LIBRARIES})
+-  target_link_libraries(${PROJECT_NAME} PUBLIC prometheus-cpp-core)
+-  target_link_libraries(${PROJECT_NAME} PUBLIC prometheus-cpp-pull)
+-  target_compile_definitions(${PROJECT_NAME} PUBLIC USE_PROMETHEUS=1)
+-endif()
+ 
+ set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
+ set_target_properties(${PROJECT_NAME} PROPERTIES
+   COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
+ 
+-set(TEST_LIB
+-  cartographer_test_library
+-)
+-add_library(${TEST_LIB} ${TEST_LIBRARY_HDRS} ${TEST_LIBRARY_SRCS})
+-target_include_directories(${TEST_LIB} SYSTEM PRIVATE
+-  "${GMOCK_INCLUDE_DIRS}")
+-# Needed for dynamically linked GTest on Windows.
+-if (WIN32)
+-  target_compile_definitions(${TEST_LIB} PUBLIC -DGTEST_LINKED_AS_SHARED_LIBRARY)
+-endif()
+-target_link_libraries(${TEST_LIB} PUBLIC ${GMOCK_LIBRARY})
+-target_link_libraries(${TEST_LIB} PUBLIC ${PROJECT_NAME})
+-set_target_properties(${TEST_LIB} PROPERTIES
+-  COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
+-
+-foreach(ABS_FIL ${ALL_TESTS})
+-  file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${ABS_FIL})
+-  get_filename_component(DIR ${REL_FIL} DIRECTORY)
+-  get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
+-  # Replace slashes as required for CMP0037.
+-  string(REPLACE "/" "." TEST_TARGET_NAME "${DIR}/${FIL_WE}")
+-  google_test("${TEST_TARGET_NAME}" ${ABS_FIL})
+-  if(${BUILD_GRPC})
+-    target_link_libraries("${TEST_TARGET_NAME}" PUBLIC grpc++)
+-    target_link_libraries("${TEST_TARGET_NAME}" PUBLIC async_grpc)
+-  endif()
+-  if(${BUILD_PROMETHEUS})
+-    target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${ZLIB_LIBRARIES})
+-    target_link_libraries("${TEST_TARGET_NAME}" PUBLIC prometheus-cpp-core)
+-    target_link_libraries("${TEST_TARGET_NAME}" PUBLIC prometheus-cpp-pull)
+-  endif()
+-  target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${TEST_LIB})
+-endforeach()
+-
+ # Add the binary directory first, so that port.h is included after it has
+ # been generated.
+ target_include_directories(${PROJECT_NAME} PUBLIC
+diff --git a/cmake/functions.cmake b/cmake/functions.cmake
+index 8cfc05f..6d849ca 100644
+--- a/cmake/functions.cmake
++++ b/cmake/functions.cmake
+@@ -87,7 +87,7 @@ macro(google_initialize_cartographer_project)
+     google_add_flag(GOOG_CXX_FLAGS "-Werror=reorder")
+     google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type")
+     google_add_flag(GOOG_CXX_FLAGS "-Werror=switch")
+-    google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized")
++    # google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized")
+ 
+     if (CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID MATCHES "AppleClang")
+       google_add_flag(GOOG_CXX_FLAGS "-Wthread-safety")
diff --git a/viam-cartographer/cmake/functions.cmake b/viam-cartographer/cmake/functions.cmake
deleted file mode 100644
index b3f57e82..00000000
--- a/viam-cartographer/cmake/functions.cmake
+++ /dev/null
@@ -1,143 +0,0 @@
-# Copyright 2016 The Cartographer Authors
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#      http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-include(CMakeParseArguments)
-
-macro(_parse_arguments ARGS)
-  set(OPTIONS)
-  set(ONE_VALUE_ARG)
-  set(MULTI_VALUE_ARGS SRCS)
-  cmake_parse_arguments(ARG
-    "${OPTIONS}" "${ONE_VALUE_ARG}" "${MULTI_VALUE_ARGS}" ${ARGS})
-endmacro(_parse_arguments)
-
-macro(_common_compile_stuff VISIBILITY)
-  set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
-
-  set_target_properties(${NAME} PROPERTIES
-    COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
-
-  target_include_directories(${NAME} PUBLIC ${PROJECT_NAME})
-  target_link_libraries(${NAME} PUBLIC ${PROJECT_NAME})
-endmacro(_common_compile_stuff)
-
-function(google_test NAME ARG_SRC)
-  add_executable(${NAME} ${ARG_SRC})
-  _common_compile_stuff("PRIVATE")
-
-  # Make sure that gmock always includes the correct gtest/gtest.h.
-  target_include_directories("${NAME}" SYSTEM PRIVATE
-    "${GMOCK_INCLUDE_DIRS}")
-  target_link_libraries("${NAME}" PUBLIC ${GMOCK_LIBRARIES})
-
-  add_test(${NAME} ${NAME})
-endfunction()
-
-function(google_binary NAME)
-  _parse_arguments("${ARGN}")
-
-  add_executable(${NAME} ${ARG_SRCS})
-
-  _common_compile_stuff("PRIVATE")
-
-  install(TARGETS "${NAME}" RUNTIME DESTINATION bin)
-endfunction()
-
-# Create a variable 'VAR_NAME'='FLAG'. If VAR_NAME is already set, FLAG is
-# appended.
-function(google_add_flag VAR_NAME FLAG)
-  if (${VAR_NAME})
-    set(${VAR_NAME} "${${VAR_NAME}} ${FLAG}" PARENT_SCOPE)
-  else()
-    set(${VAR_NAME} "${FLAG}" PARENT_SCOPE)
-  endif()
-endfunction()
-
-macro(google_initialize_cartographer_project)
-  if(CARTOGRAPHER_CMAKE_DIR)
-    set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
-        ${CARTOGRAPHER_CMAKE_DIR}/modules)
-  else()
-    set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
-        ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
-  endif()
-
-  if(WIN32)
-    # TODO turn on equivalent warnings on Windows
-  else()
-    set(GOOG_CXX_FLAGS "-pthread -fPIC ${GOOG_CXX_FLAGS}")
-
-    google_add_flag(GOOG_CXX_FLAGS "-Wall")
-    google_add_flag(GOOG_CXX_FLAGS "-Wpedantic")
-
-    # Turn some warnings into errors.
-    google_add_flag(GOOG_CXX_FLAGS "-Werror=format-security")
-    google_add_flag(GOOG_CXX_FLAGS "-Werror=missing-braces")
-    google_add_flag(GOOG_CXX_FLAGS "-Werror=reorder")
-    google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type")
-    google_add_flag(GOOG_CXX_FLAGS "-Werror=switch")
-    google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized")
-
-    if (CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID MATCHES "AppleClang")
-      google_add_flag(GOOG_CXX_FLAGS "-Wthread-safety")
-    endif()
-
-    if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
-      set(CMAKE_BUILD_TYPE Release)
-    endif()
-
-    if(CMAKE_BUILD_TYPE STREQUAL "Release")
-      google_add_flag(GOOG_CXX_FLAGS "-O3 -DNDEBUG")
-    elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
-      google_add_flag(GOOG_CXX_FLAGS "-O3 -g -DNDEBUG")
-    elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
-      if(FORCE_DEBUG_BUILD)
-        message(WARNING "Building in Debug mode, expect very slow performance.")
-        google_add_flag(GOOG_CXX_FLAGS "-g")
-      else()
-        message(FATAL_ERROR
-          "Compiling in Debug mode is not supported and can cause severely degraded performance. "
-          "You should change the build type to Release. If you want to build in Debug mode anyway, "
-          "call CMake with -DFORCE_DEBUG_BUILD=True"
-        )
-      endif()
-    # Support for Debian packaging CMAKE_BUILD_TYPE
-    elseif(CMAKE_BUILD_TYPE STREQUAL "None")
-      message(WARNING "Building with CMAKE_BUILD_TYPE None, "
-          "please make sure you have set CFLAGS and CXXFLAGS according to your needs.")
-    else()
-      message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
-    endif()
-
-    message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
-
-    # Add a hook that reruns CMake when source files are added or removed.
-    set(LIST_FILES_CMD "find ${PROJECT_SOURCE_DIR}/ -not -iwholename '*.git*' | sort | sed 's/^/#/'")
-    set(FILES_LIST_PATH "${PROJECT_BINARY_DIR}/AllFiles.cmake")
-    set(DETECT_CHANGES_CMD "bash" "-c" "${LIST_FILES_CMD} | diff -N -q ${FILES_LIST_PATH} - || ${LIST_FILES_CMD} > ${FILES_LIST_PATH}")
-    add_custom_target(${PROJECT_NAME}_detect_changes ALL
-      COMMAND ${DETECT_CHANGES_CMD}
-      VERBATIM
-    )
-    if(NOT EXISTS ${FILES_LIST_PATH})
-      execute_process(COMMAND ${DETECT_CHANGES_CMD})
-    endif()
-    include(${FILES_LIST_PATH})
-  endif()
-endmacro()
-
-macro(google_enable_testing)
-  enable_testing()
-  find_package(GMock REQUIRED)
-endmacro()
diff --git a/viam-cartographer/cmake/modules/FindEigen3.cmake b/viam-cartographer/cmake/modules/FindEigen3.cmake
deleted file mode 100644
index 9838e922..00000000
--- a/viam-cartographer/cmake/modules/FindEigen3.cmake
+++ /dev/null
@@ -1,30 +0,0 @@
-# Copyright 2018 The Cartographer Authors
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#      http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-find_package(Eigen3 QUIET NO_MODULE)
-if (NOT EIGEN3_FOUND)
-  list(APPEND EIGEN3_POSSIBLE_DIRS
-    /usr/local/include/eigen3
-    /usr/include/eigen3
-  )
-  find_path(EIGEN3_INCLUDE_DIR
-    NAMES Eigen/Core
-    PATHS ${EIGEN3_POSSIBLE_DIRS}
-  )
-  if (EIGEN3_INCLUDE_DIR AND EXISTS ${EIGEN3_INCLUDE_DIR})
-    set(EIGEN3_FOUND TRUE)
-  else()
-    message(WARNING "Failed to find Eigen3. Please, define the path manually.")
-  endif()
-endif()
diff --git a/viam-cartographer/scripts/build_cartographer.sh b/viam-cartographer/scripts/build_cartographer.sh
deleted file mode 100755
index c6d98abe..00000000
--- a/viam-cartographer/scripts/build_cartographer.sh
+++ /dev/null
@@ -1,25 +0,0 @@
-#!/bin/bash
-set -o errexit
-
-if [ "$(uname)" == "Linux" ]; then
-    cd $(dirname $(readlink -f "${BASH_SOURCE}"))/..
-elif [ "$(uname)" == "Darwin" ]; then
-    readlinkorreal() { readlink "$1" || echo "$1"; }
-    cd $(dirname string readlinkorreal "${BASH_SOURCE}")/..
-else
-    echo ERROR: your OS is not handled yet
-    exit 1
-fi
-
-# Build and install Cartographer with the viam wrapper.
-pushd cartographer
-cp ../cartographer_build_utils/CMakeLists.txt CMakeLists.txt
-rm -rf build
-mkdir build
-pushd build
-
-echo building cartographer
-cmake .. -G Ninja -DCMAKE_CXX_STANDARD=17 -DCMAKE_PREFIX_PATH=`brew --prefix`
-ninja
-popd
-popd
diff --git a/viam-cartographer/scripts/build_viam_cartographer.sh b/viam-cartographer/scripts/build_viam_cartographer.sh
deleted file mode 100755
index f744838f..00000000
--- a/viam-cartographer/scripts/build_viam_cartographer.sh
+++ /dev/null
@@ -1,29 +0,0 @@
-#!/bin/bash
-set -o errexit
-
-if [ "$(uname)" == "Linux" ]; then
-    cd $(dirname $(readlink -f "${BASH_SOURCE}"))/..
-elif [ "$(uname)" == "Darwin" ]; then
-    readlinkorreal() { readlink "$1" || echo "$1"; }
-    cd $(dirname string readlinkorreal "${BASH_SOURCE}")/..
-    which brew && export PKG_CONFIG_PATH="$PKG_CONFIG_PATH:`brew --prefix openssl@3`/lib/pkgconfig"
-else
-    echo ERROR: your OS is not handled yet
-    exit 1
-fi
-
-# Build and install Cartographer with the viam wrapper.
-DIR=`pwd`/build/
-echo $DIR
-if [ ! -d "$DIR" ]; then
-    mkdir build
-else 
-    echo "Build Directory already exists"
-fi
-
-pushd build
-
-echo building viam-cartographer
-cmake .. -G Ninja -DCMAKE_CXX_STANDARD=17 -DCMAKE_PREFIX_PATH=`brew --prefix` -DQt5_DIR=$(brew --prefix qt5)/lib/cmake/Qt5
-ninja
-popd
diff --git a/viam-cartographer/scripts/build_viam_cartographer_debug.sh b/viam-cartographer/scripts/build_viam_cartographer_debug.sh
deleted file mode 100755
index 21b7563f..00000000
--- a/viam-cartographer/scripts/build_viam_cartographer_debug.sh
+++ /dev/null
@@ -1,33 +0,0 @@
-#!/bin/bash
-set -o errexit
-
-if [ "$(uname)" == "Linux" ]; then
-    cd $(dirname $(readlink -f "${BASH_SOURCE}"))/..
-elif [ "$(uname)" == "Darwin" ]; then
-    readlinkorreal() { readlink "$1" || echo "$1"; }
-    cd $(dirname string readlinkorreal "${BASH_SOURCE}")/..
-    which brew && export PKG_CONFIG_PATH="$PKG_CONFIG_PATH:`brew --prefix openssl@3`/lib/pkgconfig"
-else
-    echo ERROR: your OS is not handled yet
-    exit 1
-fi
-
-# Build and install Cartographer with the viam wrapper.
-DIR=`pwd`/build/
-echo $DIR
-if [ ! -d "$DIR" ]; then
-    mkdir build
-else 
-    echo "Build Directory already exists"
-fi
-
-pushd build
-
-echo building viam-cartographer
-cmake .. -G Ninja \
-  -DCMAKE_CXX_STANDARD=17 \
-  -DCMAKE_PREFIX_PATH=`brew --prefix` \
-  -DQt5_DIR=$(brew --prefix qt5)/lib/cmake/Qt5 \
-  -DCMAKE_BUILD_TYPE=Debug
-
-ninja
diff --git a/viam-cartographer/scripts/setup_cartographer_linux.sh b/viam-cartographer/scripts/setup_cartographer_linux.sh
deleted file mode 100755
index f210ecbb..00000000
--- a/viam-cartographer/scripts/setup_cartographer_linux.sh
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/bin/bash
-echo "Installing cartographer external dependencies"
-sudo apt update
-sudo apt install -y cmake ninja-build libgmock-dev libboost-iostreams-dev liblua5.3-dev libcairo2-dev python3-sphinx libabsl-dev libceres-dev libprotobuf-dev protobuf-compiler libpcl-dev
-go install go.viam.com/utils/artifact/cmd/artifact
diff --git a/viam-cartographer/scripts/setup_cartographer_macos.sh b/viam-cartographer/scripts/setup_cartographer_macos.sh
deleted file mode 100755
index 1d7629b1..00000000
--- a/viam-cartographer/scripts/setup_cartographer_macos.sh
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/bin/bash
-echo "Installing cartographer external dependencies"
-brew update
-brew install abseil boost ceres-solver protobuf@21 ninja cairo googletest lua@5.3 pkg-config cmake go@1.20 grpc 
-brew link lua@5.3
-brew install openssl@3 eigen gflags glog suite-sparse sphinx-doc pcl
-brew unlink protobuf@3
-brew unlink protobuf
-brew unlink protobuf@21 && brew link protobuf@21
-go install go.viam.com/utils/artifact/cmd/artifact