diff --git a/.github/workflows/run-unit-tests.yaml b/.github/workflows/run-unit-tests.yaml
index 5c0a9c4df..106b6637e 100644
--- a/.github/workflows/run-unit-tests.yaml
+++ b/.github/workflows/run-unit-tests.yaml
@@ -17,7 +17,15 @@ jobs:
             - name: Set up Docker Buildx
               uses: docker/setup-buildx-action@v3
 
-            - name: Build and push
+            - name: Cache Docker layers
+              uses: actions/cache@v3
+              with:
+                  path: /tmp/.buildx-cache
+                  key: ${{ runner.os }}-buildx-${{ github.sha }}
+                  restore-keys: |
+                      ${{ runner.os }}-buildx-
+
+            - name: Build
               uses: docker/build-push-action@v5
               with:
                   context: .
@@ -25,11 +33,14 @@ jobs:
                   platforms: linux/arm64
                   push: false
                   tags: panther:test
+                  load: true # Allows you to load built images into Docker on the runner environment
+                  cache-from: type=local,src=/tmp/.buildx-cache
+                  cache-to: type=local,dest=/tmp/.buildx-cache-new
 
-            - name: Save built Docker image (optional)
+            - name: Save built Docker image
               run: docker save panther:test | gzip > panther-test.tar.gz
 
-            - name: Upload artifact (optional)
+            - name: Upload artifact
               uses: actions/upload-artifact@v2
               with:
                   name: docker-image
@@ -38,69 +49,57 @@ jobs:
     test:
         name: Run unit tests
         runs-on: self-hosted
+        needs:
+            - build
         env:
-            HUSARION_ROS_BUILD_TYPE: hardware
-            ROS_DISTRO: humble
             TEST_RESULT_FILENAME: last_run_results.txt
             COVERAGE_RESULT_FILENAME: coverage_results.log
         steps:
+            - name: Download Docker image from artifacts
+              uses: actions/download-artifact@v3
+              with:
+                  name: docker-image
+
+            # - name: Load Docker image
+            #   run: |
+            #       gzip -dc your-image-name.tar.gz | docker load
+
             - name: Prepare filesystem
               working-directory: ${{ runner.temp }}
               run: |
                   touch ${{ env.TEST_RESULT_FILENAME }}
                   touch ${{ env.COVERAGE_RESULT_FILENAME }}
 
-            - name: Checkout repository
-              uses: actions/checkout@v3
-              with:
-                  ref: ${{ github.ref }}
-                  path: ros2_ws/src/panther_ros
-
-            - name: Resolve dependencies
-              working-directory: ros2_ws
-              run: |
-                  vcs import < src/panther_ros/panther/panther_hardware.repos src
-                  sudo apt update
-                  rosdep update --rosdistro $ROS_DISTRO
-                  rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
+            # - name: Test
+            #   working-directory: ros2_ws
+            #   run: |
+            #       source install/setup.bash
+            #       colcon test --packages-up-to panther --retest-until-pass 10 --event-handlers console_cohesion+ --return-code-on-test-failure
+            #       echo "result=$?" >> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }}
+            #       colcon lcov-result --packages-up-to panther --verbose >> ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}
+            #       lines_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }} | grep -E 'lines' | head -1)
+            #       functions_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}  | grep -E 'functions' | head -1)
+            #       branches_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}  | grep -E 'branches' | head -1)
+            #       echo "lines_cov=$lines_cov">> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }}
+            #       echo "functions_cov=$functions_cov" >> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }}
+            #       echo "branches_cov=$branches_cov" >> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }}
 
-            - name: Build
-              working-directory: ros2_ws
-              run: |
-                  source /opt/ros/$ROS_DISTRO/setup.bash
-                  if [ -f install/setup.bash ]; then source install/setup.bash; fi
-                  colcon build --symlink-install --parallel-workers $(nproc) --packages-up-to panther --cmake-args -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage'
+            # - name: Collect unit tests output
+            #   working-directory: ${{ runner.temp }}
+            #   id: unit-tests-output
+            #   run: cat ${{ env.TEST_RESULT_FILENAME }} >> "$GITHUB_OUTPUT"
 
-            - name: Test
-              working-directory: ros2_ws
-              run: |
-                  source install/setup.bash
-                  colcon test --packages-up-to panther --retest-until-pass 10 --event-handlers console_cohesion+ --return-code-on-test-failure
-                  echo "result=$?" >> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }}
-                  colcon lcov-result --packages-up-to panther --verbose >> ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}
-                  lines_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }} | grep -E 'lines' | head -1)
-                  functions_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}  | grep -E 'functions' | head -1)
-                  branches_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}  | grep -E 'branches' | head -1)
-                  echo "lines_cov=$lines_cov">> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }}
-                  echo "functions_cov=$functions_cov" >> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }}
-                  echo "branches_cov=$branches_cov" >> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }}
+            # - name: Validate tests result
+            #   uses: nick-fields/assert-action@v1
+            #   with:
+            #       expected: 0
+            #       actual: ${{ steps.unit-tests-output.outputs.result }}
 
-            - name: Collect unit tests output
-              working-directory: ${{ runner.temp }}
-              id: unit-tests-output
-              run: cat ${{ env.TEST_RESULT_FILENAME }} >> "$GITHUB_OUTPUT"
-
-            - name: Validate tests result
-              uses: nick-fields/assert-action@v1
-              with:
-                  expected: 0
-                  actual: ${{ steps.unit-tests-output.outputs.result }}
-
-            - name: Comment PR
-              uses: thollander/actions-comment-pull-request@v2
-              with:
-                  message: |
-                      **Test coverage of modified packages:**
-                      ${{ steps.unit-tests-output.outputs.lines_cov }}
-                      ${{ steps.unit-tests-output.outputs.functions_cov }}
-                      ${{ steps.unit-tests-output.outputs.branches_cov }}
+            # - name: Comment PR
+            #   uses: thollander/actions-comment-pull-request@v2
+            #   with:
+            #       message: |
+            #           **Test coverage of modified packages:**
+            #           ${{ steps.unit-tests-output.outputs.lines_cov }}
+            #           ${{ steps.unit-tests-output.outputs.functions_cov }}
+            #           ${{ steps.unit-tests-output.outputs.branches_cov }}