diff --git a/.github/workflows/clean-old-images.yml b/.github/workflows/clean-old-images.yml
new file mode 100644
index 0000000..83c4991
--- /dev/null
+++ b/.github/workflows/clean-old-images.yml
@@ -0,0 +1,26 @@
+name: Clean Old Docker Image
+
+on:
+  workflow_dispatch:
+
+jobs:
+  cleanup-old-images:
+    runs-on: ubuntu-latest
+    permissions:
+      packages: write
+      deployments: write
+      statuses: write 
+      
+    steps:
+      - name: Log in to GHCR
+        uses: docker/login-action@v4
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Purge untagged images
+        uses: dataaxiom/ghcr-cleanup-action@v1
+        with:
+          keep-n-untagged: 0 
+          dry-run: false
\ No newline at end of file
diff --git a/.github/workflows/colcon-test-docker.yml b/.github/workflows/colcon-test-docker.yml
index e58b710..370926a 100644
--- a/.github/workflows/colcon-test-docker.yml
+++ b/.github/workflows/colcon-test-docker.yml
@@ -8,11 +8,13 @@ on:
   workflow_dispatch:
 
 jobs:
-  build-and-push:
+  spin-up-and-test:
     runs-on: ubuntu-latest
     permissions:
       contents: read
       packages: write 
+      checks: write
+      id-token: write
 
     environment:
       name: docker-image
@@ -27,24 +29,42 @@ jobs:
       - name: Checkout repository
         uses: actions/checkout@v5
 
+      - name: Log in to GHCR
+        uses: docker/login-action@v4
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Create Folder for Binding Results
+        run: mkdir -m 777 -p $GITHUB_WORKSPACE/log
+
+      - name: Pull Docker Image
+        run: |
+          docker pull ghcr.io/ref-ras/ros2:latest
+
       # spin up docker compose service ros2 and execute colcon test
       - name: Execute Colcon Tests
         run: |
           docker compose run --rm ros2-test bash -c "
             source /opt/ros/\$ROS_DISTRO/setup.bash &&
-            sudo uv pip install pytest-github-actions-annotate-failures &&
+            cd /workspace/ros2_ws &&
             colcon build &&
+            source install/setup.bash &&
             colcon test --event-handlers console_cohesion+ &&
-            colcon test-result --all
+            colcon test-result --all &&
+            sudo cp /workspace/ros2_ws/build/rviz_marker_publisher/pytest.xml /workspace/ros2_ws/src/rviz_marker_publisher
           "
       # publish test report
       - name: Publish Test Report Dashboard
-        uses: mikepenz/action-junit-report@v4
-        if: always() # ensures the UI loads even if tests fail
+        uses: mikepenz/action-junit-report@v6
+        if: success() || failure() # always run even if the previous step fails
         with:
-          report_paths: 'build/**/test_results/**/*.xml' # path where colcon stores pytest XML reports
+          # report_paths: '**/build/test-results/test/TEST-*.xml'
+          report_paths: '**/pytest.xml'
 
       # clean up resources to prevent leaks
       - name: Tear Down Containers
         if: always()
-        run: docker compose down --volumes
+        run: |
+          docker compose down --volumes
diff --git a/.github/workflows/docker-build-and-push.yml b/.github/workflows/docker-build-and-push.yml
index ad3d71c..a18fe5f 100644
--- a/.github/workflows/docker-build-and-push.yml
+++ b/.github/workflows/docker-build-and-push.yml
@@ -3,10 +3,14 @@ name: Docker Compose Build and Push
 on:
   workflow_dispatch:
     inputs:
-      environment:
-        description: 'Target Environment'
+      docker_image:
+        type: choice
+        description: 'Docker Image'
         required: true
-        default: 'docker-image'
+        default: 'ros2'
+        options:
+          - ros2
+          - moveit2
 
 jobs:
   build-and-push:
@@ -34,11 +38,11 @@ jobs:
 
       # compile the Docker images
       - name: Build Docker Compose Images
-        run: docker compose build moveit2 ros2 
+        run: docker compose build ${{ inputs.docker_image }}
 
       # spin up the containers to ensure they start up successfully
       - name: Test Start Containers
-        run: docker compose up moveit2 ros2 -d --wait
+        run: docker compose up ${{ inputs.docker_image }} -d --wait
 
       # check container statuses and ensure none have exited with errors
       - name: Verify Container Statuses
@@ -66,17 +70,6 @@ jobs:
 
       # push using the image name defined in docker-compose.yml, only runs when code is merged to main
       - name: Push image with Docker Compose to GHCR
-        if: ${{ github.ref == 'refs/heads/main' && github.event_name != 'pull_request' }}
-        run: docker compose push moveit2 ros2
+        # if: ${{ github.ref == 'refs/heads/main' && github.event_name != 'pull_request' }}
+        run: docker compose push ${{ inputs.docker_image }}
 
-  cleanup-old-images:
-    needs: build-and-push
-    runs-on: ubuntu-latest
-    permissions:
-      packages: write
-    steps:
-      - name: Purge untagged images
-        uses: dataaxiom/ghcr-cleanup-action@v1
-        with:
-          keep-n-untagged: 0 
-          dry-run: false
\ No newline at end of file
diff --git a/.github/workflows/remove-deployments.yml b/.github/workflows/remove-deployments.yml
index d8e9019..2169095 100644
--- a/.github/workflows/remove-deployments.yml
+++ b/.github/workflows/remove-deployments.yml
@@ -21,10 +21,12 @@ jobs:
       - name: Inactivaate and delete deployments
         env:
           GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          OWNER: ${{ github.repository_owner }}
+          REPO: ${{ github.event.repository.name }}
         run: |
           # 1. Fetch all deployment IDs for the current repository
           echo "Fetching deployments..."
-          DEPLOYMENTS=$(gh api repos/${{ github.repository }}/deployments --paginate -q '.[].id')
+          DEPLOYMENTS=$(gh api repos/$OWNER/$REPO/deployments --paginate -q '.[].id')
 
           if [ -z "$DEPLOYMENTS" ]; then
             echo "No deployments found."
@@ -35,18 +37,17 @@ jobs:
           for DEPLOYMENT_ID in $DEPLOYMENTS; do
             echo "Processing Deployment ID: $DEPLOYMENT_ID"
             
-            # Formulate the API URL for this specific deployment
-            API_URL="repos/${{ github.repository }}/deployments/$DEPLOYMENT_ID"
-            
             # Step A: Inactivate the deployment by setting its status to 'inactive'
-            # (GitHub requires a deployment to be inactive or have no active statuses before deletion)
-            gh api repos/$API_URL/deployments/$id/statuses \
-               -X POST -H "Accept: application/vnd.github.ant-man-preview+json" -f state='inactive' \
-               --silent || true; 
+            # Note: The gh api command automatically fills in the domain, just start with /repos
+            gh api "/repos/$OWNER/$REPO/deployments/$DEPLOYMENT_ID/statuses" \
+              -X POST \
+              -H "Accept: application/vnd.github.ant-man-preview+json" \
+              -F state="inactive" \
+              --silent || true
             
             # Step B: Delete the deployment record
             echo "Deleting Deployment ID: $DEPLOYMENT_ID..."
-            gh api repos/$API_URL/deployments/$id -X DELETE;
+            gh api "/repos/$OWNER/$REPO/deployments/$DEPLOYMENT_ID" -X DELETE
           done
           
           echo "Cleanup complete!"
diff --git a/README.md b/README.md
index 6d336b2..24d1dca 100644
--- a/README.md
+++ b/README.md
@@ -8,8 +8,9 @@
 ![Visualization Topic](https://badgen.net/badge/topic/Visualization/orange?icon=github)
 [![License: BSD NON-AI](https://badgen.net/badge/license/BSD-3%20NON-AI?icon=github)](https://github.com/non-ai-licenses/non-ai-licenses/blob/main/NON-AI-BSD3)
 
-[![Docker Compose Build and Deploy](https://github.com/REF-RAS/rviz_marker_tools/actions/workflows/docker-build.yml/badge.svg)](https://github.com/REF-RAS/rviz_marker_tools/actions/workflows/docker-build.yml)
-[![Build Sphinx and Deploy](https://github.com/REF-RAS/rviz_marker_tools/actions/workflows/sphinx.yml/badge.svg)](https://github.com/REF-RAS/rviz_marker_tools/actions/workflows/sphinx.yml)
+[![Docker Compose Build and Push](https://github.com/REF-RAS/rviz_marker_publisher/actions/workflows/docker-build-and-push.yml/badge.svg)](https://github.com/REF-RAS/rviz_marker_publisher/actions/workflows/docker-build-and-push.yml)
+[![Colcon Test Package in Container](https://github.com/REF-RAS/rviz_marker_publisher/actions/workflows/colcon-test-docker.yml/badge.svg)](https://github.com/REF-RAS/rviz_marker_publisher/actions/workflows/colcon-test-docker.yml)
+[![Build Sphinx and Deploy](https://github.com/REF-RAS/rviz_marker_publisher/actions/workflows/sphinx.yml/badge.svg)](https://github.com/REF-RAS/rviz_marker_publisher/actions/workflows/sphinx.yml)
 
 ## Introduction
 
diff --git a/docker/compose.yaml b/docker/compose.yaml
index 85a7473..7c59f75 100644
--- a/docker/compose.yaml
+++ b/docker/compose.yaml
@@ -39,11 +39,13 @@ services:
     ros2-test:
         extends: 
             service: ros2
-        working_dir: ~/ros2_ws
+        container_name: ros2-test
+        working_dir: /workspace/ros2_ws
         environment:
             - GITHUB_ACTIONS=true
         volumes:
-            - .:/workspace/ros2_ws/src/rviz_marker_publisher:rw
+            # the working directory is docker, so .. going back to the repository root
+            - ${GITHUB_WORKSPACE}:/workspace/ros2_ws/src/rviz_marker_publisher:rw 
 
     # service: moveit2 image is based on FROM moveit/moveit2:jazzy-release
     moveit2: