diff --git a/slam_service_go/main.go b/slam_service_go/main.go
new file mode 100644
index 00000000..9e7da98c
--- /dev/null
+++ b/slam_service_go/main.go
@@ -0,0 +1,18 @@
+package main
+
+/*
+  #cgo LDFLAGS: -v -L../viam-cartographer/build  -lviam-cartographer -lstdc++ -lpthread
+	#include "../viam-cartographer/src/c-api/slam_service_c.h"
+*/
+import "C"
+import "fmt"
+
+func main() {
+	fmt.Println(C.TestCgoC(1))
+	fmt.Println(C.TestCgoC(5))
+
+	fmt.Println(C.TestCgoC(100))
+	fmt.Println(C.TestCgoC(101))
+	fmt.Println(C.TestCgoC(199))
+	fmt.Println(C.TestCgoC(998))
+}
diff --git a/viam-cartographer/src/c-api/slam_service_c.cc b/viam-cartographer/src/c-api/slam_service_c.cc
new file mode 100644
index 00000000..332b7f65
--- /dev/null
+++ b/viam-cartographer/src/c-api/slam_service_c.cc
@@ -0,0 +1,6 @@
+#include "slam_service_c.h"
+#include "../slam_service/slam_service.h"
+
+int TestCgoC(int num) {
+    return static_cast<int>(viam::SensorId::SensorType::IMU) + num;
+}
diff --git a/viam-cartographer/src/c-api/slam_service_c.h b/viam-cartographer/src/c-api/slam_service_c.h
new file mode 100644
index 00000000..0dcba34c
--- /dev/null
+++ b/viam-cartographer/src/c-api/slam_service_c.h
@@ -0,0 +1,14 @@
+#ifndef SLAM_SERVICE_C_H
+#define SLAM_SERVICE_C_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int TestCgoC(int num);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*SLAM_SERVICE_C_H*/
diff --git a/viam-cartographer/src/io/draw_trajectories.h b/viam-cartographer/src/io/draw_trajectories.h
index 716a110a..a885a3fc 100644
--- a/viam-cartographer/src/io/draw_trajectories.h
+++ b/viam-cartographer/src/io/draw_trajectories.h
@@ -2,7 +2,7 @@
 #ifndef VIAM_CARTOGRAPHER_IO_DRAW_TRAJECTORIES_H_
 #define VIAM_CARTOGRAPHER_IO_DRAW_TRAJECTORIES_H_
 
-#include "../src/io/color.h"
+#include "color.h"
 #include "cairo/cairo.h"
 #include "cartographer/io/color.h"
 #include "cartographer/io/image.h"