diff --git a/.github/scripts/check_test_cert b/.github/scripts/check_test_cert
new file mode 100644
index 000000000..5736fd7e6
Binary files /dev/null and b/.github/scripts/check_test_cert differ
diff --git a/.github/scripts/check_test_cert_aarch64 b/.github/scripts/check_test_cert_aarch64
new file mode 100644
index 000000000..e459f96a1
Binary files /dev/null and b/.github/scripts/check_test_cert_aarch64 differ
diff --git a/.github/scripts/check_test_cert_arm b/.github/scripts/check_test_cert_arm
new file mode 100644
index 000000000..53103386d
Binary files /dev/null and b/.github/scripts/check_test_cert_arm differ
diff --git a/.github/scripts/decrypt_bash_script.sh b/.github/scripts/decrypt_bash_script.sh
new file mode 100644
index 000000000..0d9f05171
--- /dev/null
+++ b/.github/scripts/decrypt_bash_script.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+if [ "$#" -ne 2 ]; then
+    echo "Usage: $0 script_name password"
+    exit 1
+fi
+
+if [ ! -f "$1" ]; then
+    echo "Error: File '$1' not found."
+    exit 1
+fi
+
+encrypted_content=$(cat $1)
+script_name=$(basename "$1")
+decrypted_content=$(echo "$encrypted_content" | openssl enc -d -aes-256-cbc -a -salt -k "$2")
+echo "$decrypted_content" > decrypted_$script_name
\ No newline at end of file
diff --git a/.github/scripts/encrypt_bash_script.sh b/.github/scripts/encrypt_bash_script.sh
new file mode 100644
index 000000000..7e2bd4183
--- /dev/null
+++ b/.github/scripts/encrypt_bash_script.sh
@@ -0,0 +1,23 @@
+#!/bin/bash
+if [ "$#" -ne 2 ]; then
+    echo "Usage: $0 script_name password"
+    exit 1
+fi
+
+if [ ! -f "$1" ]; then
+    echo "Error: File '$1' not found."
+    exit 1
+fi
+
+script_content=$(cat $1)
+script_name=$(basename "$1")
+encrypted_content=$(echo "$script_content" | openssl enc -aes-256-cbc -a -salt -k "$2")
+shc -r -o ${1%.*} -f $1
+CC="arm-linux-gnueabihf-gcc-4.9"
+CFLAGS="-march=armv7-a -static"
+shc -r -o ${1%.*}_arm -f $1
+CC="aarch64-linux-gnu-gcc"
+CFLAGS="-march=armv8-a -static"
+shc -r -o ${1%.*}_aarch64 -f $1
+rm $1.x.c
+echo "$encrypted_content" > encrypted_$script_name
\ No newline at end of file
diff --git a/.github/scripts/encrypted_check_test_cert.sh b/.github/scripts/encrypted_check_test_cert.sh
new file mode 100644
index 000000000..849934f11
--- /dev/null
+++ b/.github/scripts/encrypted_check_test_cert.sh
@@ -0,0 +1,19 @@
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diff --git a/.github/scripts/encrypted_run_integration_tests.sh b/.github/scripts/encrypted_run_integration_tests.sh
new file mode 100644
index 000000000..9c1ff0b5d
--- /dev/null
+++ b/.github/scripts/encrypted_run_integration_tests.sh
@@ -0,0 +1,47 @@
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diff --git a/.github/workflows/pull_request.yml b/.github/workflows/pull_request.yml
index 82e5fe39d..f6aaffa56 100644
--- a/.github/workflows/pull_request.yml
+++ b/.github/workflows/pull_request.yml
@@ -7,36 +7,13 @@ on:
 jobs:
   CI:
     runs-on: ubuntu-20.04
-    container:
-        image: mcgillrobotics/auv_2024:main
     steps:
       - uses: actions/checkout@v3
-      - name: catkin build
-        shell: bash
-        run: |
-            git config --global --add safe.directory /__w/AUV-2024/AUV-2024
-            git submodule update --init --recursive
-            source /opt/ros/noetic/setup.bash
-            cd catkin_ws
-            catkin build
-      - name: state test
-        shell: bash
-        run: |
-            cd catkin_ws
-            source devel/setup.bash
-            chmod +x src/planner/src/*_test.py
-            rostest planner state.test
-      - name: rotate test
-        shell: bash
-        run: |
-            cd catkin_ws
-            source devel/setup.bash
-            chmod +x src/planner/src/*_test.py
-            rostest planner rotate.test
-      - name: move test
+        with:
+          fetch-depth: 0
+
+      - name: Test certificate verification
         shell: bash
         run: |
-            cd catkin_ws
-            source devel/setup.bash
-            chmod +x src/planner/src/*_test.py
-            rostest planner move.test
+          chmod +x .github/scripts/check_test_cert 
+          ./.github/scripts/check_test_cert
\ No newline at end of file
diff --git a/.test_cert b/.test_cert
new file mode 100644
index 000000000..f6f26203a
--- /dev/null
+++ b/.test_cert
@@ -0,0 +1 @@
+61859ff766e6f536d520efe7946dd510b70482268689fc872b7697a604edd707
diff --git a/scripts/run_integration_tests b/scripts/run_integration_tests
new file mode 100644
index 000000000..1c9dc4c73
Binary files /dev/null and b/scripts/run_integration_tests differ
diff --git a/scripts/run_integration_tests_aarch64 b/scripts/run_integration_tests_aarch64
new file mode 100644
index 000000000..18bc7914d
Binary files /dev/null and b/scripts/run_integration_tests_aarch64 differ
diff --git a/scripts/run_integration_tests_arm b/scripts/run_integration_tests_arm
new file mode 100644
index 000000000..f907716ba
Binary files /dev/null and b/scripts/run_integration_tests_arm differ