diff --git a/.github/actions/bootstrap/action.yml b/.github/actions/bootstrap/action.yml
index 7e045a3c1..490b293c0 100644
--- a/.github/actions/bootstrap/action.yml
+++ b/.github/actions/bootstrap/action.yml
@@ -11,8 +11,18 @@ inputs:
 runs:
   using: composite
   steps:
+    - uses: pnpm/action-setup@v2.2.2
+      with:
+        version: '8.15.7'
+    - uses: actions/setup-node@v2
+      with:
+        node-version: '16'
+        cache: 'pnpm'
+    - name: Install pipenv
+      run: pip3 install pipenv
+      shell: bash
     - name: Install dependencies
-      run: pnpm install -w --filter ${{ inputs.package }}...
+      run: pnpm install -w --filter ${{ inputs.package }}... --no-frozen-lockfile
       shell: bash
     - name: Build
       if: '!${{ inputs.skip-build }}'
diff --git a/.github/minimal-rmf/Dockerfile b/.github/minimal-rmf/Dockerfile
deleted file mode 100644
index e11a92d32..000000000
--- a/.github/minimal-rmf/Dockerfile
+++ /dev/null
@@ -1,34 +0,0 @@
-ARG BASE_IMAGE=docker.io/ros:humble-ros-base
-FROM $BASE_IMAGE
-ARG BRANCH=main
-ARG ROS_DISTRO=humble
-
-### build minimal rmf
-
-RUN apt update && apt install -y curl
-
-# # fetch sources
-RUN mkdir -p /rmf && cd /rmf \
-  && curl -sL https://github.com/open-rmf/rmf_internal_msgs/archive/refs/heads/$BRANCH.tar.gz -o rmf_internal_msgs.tar.gz \
-  && curl -sL https://github.com/open-rmf/rmf_building_map_msgs/archive/refs/heads/$BRANCH.tar.gz -o rmf_building_map_msgs.tar.gz \
-  && mkdir -p /rmf/src/rmf/rmf_internal_msgs && tar zxf rmf_internal_msgs.tar.gz -C /rmf/src/rmf/rmf_internal_msgs --strip-components=1 && rm rmf_internal_msgs.tar.gz \
-  && mkdir -p /rmf/src/rmf/rmf_building_map_msgs && tar zxf rmf_building_map_msgs.tar.gz -C /rmf/src/rmf/rmf_building_map_msgs --strip-components=1 && rm rmf_building_map_msgs.tar.gz
-
-RUN rosdep update && rosdep install --from-paths /rmf/src -yi
-
-RUN cd /rmf \
-  && . /opt/ros/$ROS_DISTRO/setup.sh \
-  && colcon build --merge-install --install-base /opt/rmf --cmake-args -DCMAKE_BUILD_TYPE=Release \
-  && rm -rf /rmf
-
-# install tools for rmf-web
-
-RUN curl -fsSL https://get.pnpm.io/install.sh | bash -
-# shell runs in non-interactive mode, which does not source .bashrc so we need to set the PATH manually
-ENV PNPM_HOME /root/.local/share/pnpm
-ENV PATH "$PNPM_HOME:$PATH"
-
-# nodejs seems to have changed the official mirror, the default in pnpm is very slow now
-RUN pnpm config -g set 'node-mirror:release' https://nodejs.org/dist && pnpm env use --global lts
-
-RUN apt update && apt install -y python3-venv
diff --git a/.github/workflows/api-client.yml b/.github/workflows/api-client.yml
index 5e1dc10c5..d08438463 100644
--- a/.github/workflows/api-client.yml
+++ b/.github/workflows/api-client.yml
@@ -7,24 +7,16 @@ on:
   push:
     branches:
       - main
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
 jobs:
   unit-tests:
     name: Unit Tests
     runs-on: ubuntu-22.04
-    container:
-      image: ghcr.io/${{ github.repository }}/minimal-rmf
-      credentials:
-        username: ${{ github.repository_owner }}
-        password: ${{ secrets.GITHUB_TOKEN }}
     defaults:
       run:
         shell: bash
         working-directory: packages/api-client
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v2
       - name: bootstrap
         uses: ./.github/actions/bootstrap
         with:
diff --git a/.github/workflows/api-server.yml b/.github/workflows/api-server.yml
index 8c9d11582..fb0a60e20 100644
--- a/.github/workflows/api-server.yml
+++ b/.github/workflows/api-server.yml
@@ -7,9 +7,6 @@ on:
   push:
     branches:
       - main
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
 env:
   CI: true
   PIPENV_VERBOSITY: -1
@@ -18,24 +15,28 @@ jobs:
     name: Tests
     runs-on: ubuntu-22.04
     container:
-      image: ghcr.io/${{ github.repository }}/minimal-rmf
+      image: ghcr.io/${{ github.repository }}/e2e
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
+    defaults:
+      run:
         shell: bash
         working-directory: packages/api-server
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v2
+      - name: setup python
+        run: apt update && apt install -y python3-venv python-is-python3
       - name: bootstrap
         uses: ./.github/actions/bootstrap
         with:
           package: api-server
       - name: tests
         run: |
-          . /opt/rmf/setup.bash
+          . /rmf_demos_ws/install/setup.bash
           pnpm run lint
-          pnpm run test:cov -v
-          ../../.venv/bin/python -m coverage xml
+          pnpm run test:cov
+          pipenv run python -m coverage xml
       - name: Upload coverage to Codecov
         uses: codecov/codecov-action@v1
         with:
diff --git a/.github/workflows/dashboard.yml b/.github/workflows/dashboard.yml
index ecb6cf6a8..ad17be889 100644
--- a/.github/workflows/dashboard.yml
+++ b/.github/workflows/dashboard.yml
@@ -11,9 +11,6 @@ on:
   push:
     branches:
       - main
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
 env:
   CI: true
 jobs:
@@ -21,21 +18,27 @@ jobs:
     name: Unit Tests
     runs-on: ubuntu-22.04
     container:
-      image: ghcr.io/${{ github.repository }}/minimal-rmf
+      image: ghcr.io/${{ github.repository }}/e2e
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
+    defaults:
+      run:
         shell: bash
         working-directory: packages/dashboard
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v2
+      - name: setup python
+        run: apt update && apt install -y python3-venv python-is-python3
       - name: bootstrap
+        env:
+          NODE_OPTIONS: '--max_old_space_size=4096'
         uses: ./.github/actions/bootstrap
         with:
           package: rmf-dashboard
           skip-build: true
       - name: unit test
-        run: pnpm run test:coverage
+        run: . /rmf_demos_ws/install/setup.bash && pnpm run test:coverage
       - name: Upload coverage to Codecov
         uses: codecov/codecov-action@v1
         with:
diff --git a/.github/workflows/react-components.yml b/.github/workflows/react-components.yml
index 19bea24ef..113de202c 100644
--- a/.github/workflows/react-components.yml
+++ b/.github/workflows/react-components.yml
@@ -8,26 +8,22 @@ on:
   push:
     branches:
       - main
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
 env:
   CI: true
 jobs:
   unit-tests:
     name: Unit Tests
     runs-on: ubuntu-22.04
-    container:
-      image: ghcr.io/${{ github.repository }}/minimal-rmf
-      credentials:
-        username: ${{ github.repository_owner }}
-        password: ${{ secrets.GITHUB_TOKEN }}
     defaults:
       run:
         shell: bash
         working-directory: packages/react-components
+    env:
+      BROWSERSTACK_USERNAME: ${{ secrets.BROWSERSTACK_USERNAME }}
+      BROWSERSTACK_ACCESS_KEY: ${{ secrets.BROWSERSTACK_ACCESS_KEY }}
+      BROWSERSTACK_BUILD: ${{ github.head_ref }}:${{ github.event.number }}
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v2
       - name: bootstrap
         uses: ./.github/actions/bootstrap
         with:
@@ -41,4 +37,4 @@ jobs:
       - name: Upload coverage to Codecov
         uses: codecov/codecov-action@v1
         with:
-          flags: react-components
\ No newline at end of file
+          flags: react-components
diff --git a/.github/workflows/rmf-auth.yml b/.github/workflows/rmf-auth.yml
index d119b59f6..02c8eb915 100644
--- a/.github/workflows/rmf-auth.yml
+++ b/.github/workflows/rmf-auth.yml
@@ -7,26 +7,18 @@ on:
   push:
     branches:
       - main
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
 env:
   CI: true
 jobs:
   unit-tests:
     name: Unit Tests
     runs-on: ubuntu-22.04
-    container:
-      image: ghcr.io/${{ github.repository }}/minimal-rmf
-      credentials:
-        username: ${{ github.repository_owner }}
-        password: ${{ secrets.GITHUB_TOKEN }}
     defaults:
       run:
         shell: bash
         working-directory: packages/rmf-auth
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v2
       - name: bootstrap
         uses: ./.github/actions/bootstrap
         with:
diff --git a/.github/workflows/ros-translator.yml b/.github/workflows/ros-translator.yml
index 0bd5cf186..ac3082e1a 100644
--- a/.github/workflows/ros-translator.yml
+++ b/.github/workflows/ros-translator.yml
@@ -7,9 +7,6 @@ on:
   push:
     branches:
       - main
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
 env:
   CI: true
 jobs:
@@ -17,14 +14,18 @@ jobs:
     name: Unit Tests
     runs-on: ubuntu-22.04
     container:
-      image: ghcr.io/${{ github.repository }}/minimal-rmf
+      image: ghcr.io/${{ github.repository }}/e2e
       credentials:
         username: ${{ github.repository_owner }}
         password: ${{ secrets.GITHUB_TOKEN }}
+    defaults:
+      run:
         shell: bash
         working-directory: packages/ros-translator
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v2
+      - name: setup python
+        run: apt update && apt install -y python3-venv python-is-python3
       - name: bootstrap
         uses: ./.github/actions/bootstrap
         with: