diff --git a/cli/module_build.go b/cli/module_build.go
index bfbc68c456e..efecdc676a4 100644
--- a/cli/module_build.go
+++ b/cli/module_build.go
@@ -109,14 +109,14 @@ func moduleBuildLocalAction(cCtx *cli.Context, manifest *moduleManifest) error {
 	if manifest.Build.Setup != "" {
 		infof(cCtx.App.Writer, "Starting setup step: %q", manifest.Build.Setup)
 		processConfig.Args = []string{"-c", manifest.Build.Setup}
-		proc := pexec.NewManagedProcess(processConfig, logger.AsZap())
+		proc := pexec.NewManagedProcess(processConfig, logger)
 		if err := proc.Start(cCtx.Context); err != nil {
 			return err
 		}
 	}
 	infof(cCtx.App.Writer, "Starting build step: %q", manifest.Build.Build)
 	processConfig.Args = []string{"-c", manifest.Build.Build}
-	proc := pexec.NewManagedProcess(processConfig, logger.AsZap())
+	proc := pexec.NewManagedProcess(processConfig, logger)
 	if err := proc.Start(cCtx.Context); err != nil {
 		return err
 	}
diff --git a/components/arm/client_test.go b/components/arm/client_test.go
index db2e7e6c979..e0191286aa5 100644
--- a/components/arm/client_test.go
+++ b/components/arm/client_test.go
@@ -27,7 +27,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	var (
diff --git a/components/audioinput/client_test.go b/components/audioinput/client_test.go
index 6fe33dd9d9a..b32f9c33054 100644
--- a/components/audioinput/client_test.go
+++ b/components/audioinput/client_test.go
@@ -29,7 +29,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	audioData := &wave.Float32Interleaved{
@@ -138,7 +138,7 @@ func TestClientStreamAfterClose(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	// Set up audioinput that can stream audio
diff --git a/components/audioinput/microphone/microphone.go b/components/audioinput/microphone/microphone.go
index d1b3646a0ef..e58725398d9 100644
--- a/components/audioinput/microphone/microphone.go
+++ b/components/audioinput/microphone/microphone.go
@@ -113,7 +113,7 @@ func tryMicrophoneOpen(
 	constraints mediadevices.MediaStreamConstraints,
 	logger logging.Logger,
 ) (audioinput.AudioSource, error) {
-	source, err := gostream.GetNamedAudioSource(filepath.Base(path), constraints, logger.AsZap())
+	source, err := gostream.GetNamedAudioSource(filepath.Base(path), constraints, logger)
 	if err != nil {
 		return nil, err
 	}
diff --git a/components/base/client_test.go b/components/base/client_test.go
index 1c13604614f..b4b3b27ab69 100644
--- a/components/base/client_test.go
+++ b/components/base/client_test.go
@@ -81,7 +81,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	argsReceived := map[string][]interface{}{}
diff --git a/components/board/client_test.go b/components/board/client_test.go
index 0265766e165..23228f7e763 100644
--- a/components/board/client_test.go
+++ b/components/board/client_test.go
@@ -29,7 +29,7 @@ func setupService(t *testing.T, injectBoard *inject.Board) (net.Listener, func()
 	logger := logging.NewTestLogger(t)
 	listener, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	boardSvc, err := resource.NewAPIResourceCollection(board.API, map[resource.Name]board.Board{board.Named(testBoardName): injectBoard})
diff --git a/components/camera/client_test.go b/components/camera/client_test.go
index a23bfc37972..e11aea814f7 100644
--- a/components/camera/client_test.go
+++ b/components/camera/client_test.go
@@ -37,7 +37,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	injectCamera := &inject.Camera{}
@@ -338,7 +338,7 @@ func TestClientProperties(t *testing.T) {
 	listener, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
 
-	server, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	server, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	injectCamera := &inject.Camera{}
@@ -428,7 +428,7 @@ func TestClientLazyImage(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	injectCamera := &inject.Camera{}
@@ -497,7 +497,7 @@ func TestClientWithInterceptor(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	// Set up camera that adds timestamps into the gRPC response header.
@@ -559,7 +559,7 @@ func TestClientStreamAfterClose(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	// Set up camera that can stream images
@@ -633,7 +633,7 @@ func TestRTPPassthroughWithoutWebRTC(t *testing.T) {
 	camName := "rtp_passthrough_camera"
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	injectCamera := &inject.Camera{}
diff --git a/components/camera/replaypcd/replaypcd_utils_test.go b/components/camera/replaypcd/replaypcd_utils_test.go
index f8979a5fdcd..da59377860b 100644
--- a/components/camera/replaypcd/replaypcd_utils_test.go
+++ b/components/camera/replaypcd/replaypcd_utils_test.go
@@ -134,7 +134,7 @@ func timestampsFromFileNum(fileNum int) (*timestamppb.Timestamp, *timestamppb.Ti
 func createMockCloudDependencies(ctx context.Context, t *testing.T, logger logging.Logger, b bool) (resource.Dependencies, func() error) {
 	listener, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	// This creates a mock server for each pcd file used in testing
diff --git a/components/camera/videosource/webcam.go b/components/camera/videosource/webcam.go
index f4ce78e87f3..3cca0f573e7 100644
--- a/components/camera/videosource/webcam.go
+++ b/components/camera/videosource/webcam.go
@@ -256,7 +256,7 @@ func findAndMakeVideoSource(
 		return cam, label, nil
 	}
 
-	source, err := gostream.GetAnyVideoSource(constraints, logger.AsZap())
+	source, err := gostream.GetAnyVideoSource(constraints, logger)
 	if err != nil {
 		return nil, "", errors.Wrap(err, "found no webcams")
 	}
@@ -429,7 +429,7 @@ func getNamedVideoSource(
 			path = resolvedPath
 		}
 	}
-	return gostream.GetNamedVideoSource(filepath.Base(path), constraints, logger.AsZap())
+	return gostream.GetNamedVideoSource(filepath.Base(path), constraints, logger)
 }
 
 // monitoredWebcam tries to ensure its underlying camera stays connected.
diff --git a/components/encoder/client_test.go b/components/encoder/client_test.go
index 7a879181ca8..0579d8998fe 100644
--- a/components/encoder/client_test.go
+++ b/components/encoder/client_test.go
@@ -27,7 +27,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	workingEncoder := &inject.Encoder{}
diff --git a/components/gantry/client_test.go b/components/gantry/client_test.go
index ade2e1388d2..0ba7d92557e 100644
--- a/components/gantry/client_test.go
+++ b/components/gantry/client_test.go
@@ -20,7 +20,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	var gantryPos []float64
diff --git a/components/generic/client_test.go b/components/generic/client_test.go
index 238e44f7474..3eeadf06620 100644
--- a/components/generic/client_test.go
+++ b/components/generic/client_test.go
@@ -25,7 +25,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	workingGeneric := &inject.GenericComponent{}
diff --git a/components/gripper/client_test.go b/components/gripper/client_test.go
index 9f67cf6a516..b8b31777b9f 100644
--- a/components/gripper/client_test.go
+++ b/components/gripper/client_test.go
@@ -22,7 +22,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	var gripperOpen string
diff --git a/components/input/client_test.go b/components/input/client_test.go
index 9d817ab45d6..dab4f65b2a8 100644
--- a/components/input/client_test.go
+++ b/components/input/client_test.go
@@ -21,7 +21,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	var extraOptions map[string]interface{}
@@ -276,7 +276,7 @@ func TestClientRace(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	injectInputController := &inject.TriggerableInputController{}
diff --git a/components/motor/client_test.go b/components/motor/client_test.go
index 044f7a98bd2..e819143e866 100644
--- a/components/motor/client_test.go
+++ b/components/motor/client_test.go
@@ -20,7 +20,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	workingMotor := &inject.Motor{}
diff --git a/components/movementsensor/client_test.go b/components/movementsensor/client_test.go
index 6165e1ff63a..d18e72dd11b 100644
--- a/components/movementsensor/client_test.go
+++ b/components/movementsensor/client_test.go
@@ -39,7 +39,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	loc := geo.NewPoint(90, 1)
diff --git a/components/movementsensor/replay/replay_utils_test.go b/components/movementsensor/replay/replay_utils_test.go
index db9d23f6d36..47265e919c6 100644
--- a/components/movementsensor/replay/replay_utils_test.go
+++ b/components/movementsensor/replay/replay_utils_test.go
@@ -171,7 +171,7 @@ func createMockCloudDependencies(ctx context.Context, t *testing.T, logger loggi
 ) (resource.Dependencies, func() error) {
 	listener, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	test.That(t, rpcServer.RegisterServiceServer(
diff --git a/components/posetracker/client_test.go b/components/posetracker/client_test.go
index 803fd8744b9..47acd5ccca4 100644
--- a/components/posetracker/client_test.go
+++ b/components/posetracker/client_test.go
@@ -31,7 +31,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	workingPT := &inject.PoseTracker{}
diff --git a/components/powersensor/client_test.go b/components/powersensor/client_test.go
index e3f1358fafa..4b2e816a338 100644
--- a/components/powersensor/client_test.go
+++ b/components/powersensor/client_test.go
@@ -22,7 +22,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	testVolts := 4.8
diff --git a/components/sensor/client_test.go b/components/sensor/client_test.go
index 0db38b88190..f414b843943 100644
--- a/components/sensor/client_test.go
+++ b/components/sensor/client_test.go
@@ -27,7 +27,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	rs := map[string]interface{}{"a": 1.1, "b": 2.2}
diff --git a/components/servo/client_test.go b/components/servo/client_test.go
index d3f9cf70eb7..16a9c44988f 100644
--- a/components/servo/client_test.go
+++ b/components/servo/client_test.go
@@ -26,7 +26,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	var actualExtra map[string]interface{}
diff --git a/config/logging_level.go b/config/logging_level.go
index 9b3c156f57f..bfdb97ec1ea 100644
--- a/config/logging_level.go
+++ b/config/logging_level.go
@@ -3,7 +3,6 @@ package config
 import (
 	"sync"
 
-	"github.com/edaniels/golog"
 	"go.uber.org/zap"
 	"go.uber.org/zap/zapcore"
 
@@ -27,7 +26,6 @@ var globalLogger struct {
 func InitLoggingSettings(logger logging.Logger, cmdLineDebugFlag bool) {
 	globalLogger.logger = logger
 	globalLogger.cmdLineDebugFlag = cmdLineDebugFlag
-	gologLogger := golog.NewDebugLogger("rdk.golog")
 
 	if cmdLineDebugFlag {
 		logging.GlobalLogLevel.SetLevel(zapcore.DebugLevel)
@@ -35,10 +33,8 @@ func InitLoggingSettings(logger logging.Logger, cmdLineDebugFlag bool) {
 	} else {
 		logging.GlobalLogLevel.SetLevel(zapcore.InfoLevel)
 		logger.SetLevel(logging.INFO)
-		gologLogger = golog.NewLogger("rdk.golog")
 	}
 
-	golog.ReplaceGloabl(gologLogger)
 	globalLogger.logger.Info("Log level initialized: ", logging.GlobalLogLevel.Level())
 }
 
diff --git a/config/reader.go b/config/reader.go
index e96b024da24..52b669cdf13 100644
--- a/config/reader.go
+++ b/config/reader.go
@@ -712,7 +712,7 @@ func CreateNewGRPCClient(ctx context.Context, cloudCfg *Cloud, logger logging.Lo
 		dialOpts = append(dialOpts, rpc.WithInsecure())
 	}
 
-	return rpc.DialDirectGRPC(ctx, u.Host, logger.AsZap(), dialOpts...)
+	return rpc.DialDirectGRPC(ctx, u.Host, logger, dialOpts...)
 }
 
 // CreateNewGRPCClientWithAPIKey creates a new grpc cloud configured to communicate with the robot service
@@ -738,5 +738,5 @@ func CreateNewGRPCClientWithAPIKey(ctx context.Context, cloudCfg *Cloud,
 		dialOpts = append(dialOpts, rpc.WithInsecure())
 	}
 
-	return rpc.DialDirectGRPC(ctx, u.Host, logger.AsZap(), dialOpts...)
+	return rpc.DialDirectGRPC(ctx, u.Host, logger, dialOpts...)
 }
diff --git a/config/testutils/fake_cloud.go b/config/testutils/fake_cloud.go
index 1c6755f83ce..3c375a1b01a 100644
--- a/config/testutils/fake_cloud.go
+++ b/config/testutils/fake_cloud.go
@@ -57,7 +57,7 @@ func NewFakeCloudServer(t *testing.T, ctx context.Context, logger logging.Logger
 		deviceConfigs: map[string]*configAndCerts{},
 	}
 
-	server.rpcServer, err = rpc.NewServer(logger.AsZap(),
+	server.rpcServer, err = rpc.NewServer(logger,
 		rpc.WithDisableMulticastDNS(),
 		rpc.WithAuthHandler(rutils.CredentialsTypeRobotSecret, rpc.AuthHandlerFunc(
 			server.robotSecretAuthenticate,
diff --git a/examples/customresources/demos/remoteserver/server_test.go b/examples/customresources/demos/remoteserver/server_test.go
index 835edc4a9a0..4a45915e96f 100644
--- a/examples/customresources/demos/remoteserver/server_test.go
+++ b/examples/customresources/demos/remoteserver/server_test.go
@@ -83,7 +83,7 @@ func TestGizmo(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 
 		processLogger, logObserver := logging.NewObservedTestLogger(t)
-		pmgr := pexec.NewProcessManager(processLogger.Sublogger("remoteA").AsZap())
+		pmgr := pexec.NewProcessManager(processLogger.Sublogger("remoteA"))
 		pCfg := pexec.ProcessConfig{
 			ID:      "Intermediate",
 			Name:    "go",
diff --git a/go.mod b/go.mod
index 7be31432a52..e4850fc634f 100644
--- a/go.mod
+++ b/go.mod
@@ -25,7 +25,6 @@ require (
 	github.com/docker/go-units v0.5.0
 	github.com/edaniels/gobag v1.0.7-0.20220607183102-4242cd9e2848
 	github.com/edaniels/golinters v0.0.5-0.20220906153528-641155550742
-	github.com/edaniels/golog v0.0.0-20230215213219-28954395e8d0
 	github.com/edaniels/lidario v0.0.0-20220607182921-5879aa7b96dd
 	github.com/fatih/color v1.15.0
 	github.com/fogleman/gg v1.3.0
@@ -88,7 +87,7 @@ require (
 	go.uber.org/zap v1.24.0
 	go.viam.com/api v0.1.322
 	go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2
-	go.viam.com/utils v0.1.85
+	go.viam.com/utils v0.1.87
 	goji.io v2.0.2+incompatible
 	golang.org/x/image v0.15.0
 	golang.org/x/mobile v0.0.0-20240112133503-c713f31d574b
@@ -173,6 +172,7 @@ require (
 	github.com/denis-tingaikin/go-header v0.4.3 // indirect
 	github.com/desertbit/timer v0.0.0-20180107155436-c41aec40b27f // indirect
 	github.com/dnephin/pflag v1.0.7 // indirect
+	github.com/edaniels/golog v0.0.0-20230215213219-28954395e8d0 // indirect
 	github.com/edaniels/zeroconf v1.0.10 // indirect
 	github.com/envoyproxy/go-control-plane v0.11.1 // indirect
 	github.com/envoyproxy/protoc-gen-validate v1.0.2 // indirect
diff --git a/go.sum b/go.sum
index ef917d24ac5..53048acc646 100644
--- a/go.sum
+++ b/go.sum
@@ -1544,8 +1544,8 @@ go.viam.com/api v0.1.322 h1:bC78B6QOxUgfWU2rOvN+4n03gg1JgZUPF9VN49X9GQc=
 go.viam.com/api v0.1.322/go.mod h1:msa4TPrMVeRDcG4YzKA/S6wLEUC7GyHQE973JklrQ10=
 go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 h1:oBiK580EnEIzgFLU4lHOXmGAE3MxnVbeR7s1wp/F3Ps=
 go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2/go.mod h1:XM0tej6riszsiNLT16uoyq1YjuYPWlRBweTPRDanIts=
-go.viam.com/utils v0.1.85 h1:dZHMTt0Wz4s+6J+ex6pwF2JCacHSdVEcDU2XeSyaPeY=
-go.viam.com/utils v0.1.85/go.mod h1:VDxTqGLWOvqKrCPECfMX799LDm3PPX6ATeLA6JSkDuY=
+go.viam.com/utils v0.1.87 h1:ogXDiWqOFGIosptZYhDpxz+8tr9p8tjVesyC+c6xa8g=
+go.viam.com/utils v0.1.87/go.mod h1:VDxTqGLWOvqKrCPECfMX799LDm3PPX6ATeLA6JSkDuY=
 go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2 h1:WJhcL4p+YeDxmZWg141nRm7XC8IDmhz7lk5GpadO1Sg=
 go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2/go.mod h1:FftLjUGFEDu5k8lt0ddY+HcrH/qU/0qk+H8j9/nTl3E=
 gocv.io/x/gocv v0.25.0/go.mod h1:Rar2PS6DV+T4FL+PM535EImD/h13hGVaHhnCu1xarBs=
diff --git a/gostream/codec/audio_encoder.go b/gostream/codec/audio_encoder.go
index aeaed087a7e..91e94864cbc 100644
--- a/gostream/codec/audio_encoder.go
+++ b/gostream/codec/audio_encoder.go
@@ -4,8 +4,9 @@ import (
 	"context"
 	"time"
 
-	"github.com/edaniels/golog"
 	"github.com/pion/mediadevices/pkg/wave"
+
+	"go.viam.com/rdk/logging"
 )
 
 // An AudioEncoder is anything that can encode audo chunks into bytes. This means that
@@ -18,6 +19,6 @@ type AudioEncoder interface {
 
 // An AudioEncoderFactory produces AudioEncoders and provides information about the underlying encoder itself.
 type AudioEncoderFactory interface {
-	New(sampleRate, channelCount int, latency time.Duration, logger golog.Logger) (AudioEncoder, error)
+	New(sampleRate, channelCount int, latency time.Duration, logger logging.Logger) (AudioEncoder, error)
 	MIMEType() string
 }
diff --git a/gostream/codec/h264/encoder.go b/gostream/codec/h264/encoder.go
index 91bd2e6488d..6f8b2e8ac5a 100644
--- a/gostream/codec/h264/encoder.go
+++ b/gostream/codec/h264/encoder.go
@@ -11,13 +11,13 @@ import (
 	"time"
 	"unsafe"
 
-	"github.com/edaniels/golog"
 	"github.com/pion/mediadevices/pkg/io/video"
 	"github.com/pkg/errors"
 
 	"go.viam.com/rdk/gostream/codec"
 	"go.viam.com/rdk/gostream/ffmpeg/avcodec"
 	"go.viam.com/rdk/gostream/ffmpeg/avutil"
+	"go.viam.com/rdk/logging"
 )
 
 const (
@@ -41,7 +41,7 @@ type encoder struct {
 	height  int
 	frame   *avutil.Frame
 	pts     int64
-	logger  golog.Logger
+	logger  logging.Logger
 }
 
 func (h *encoder) Read() (img image.Image, release func(), err error) {
@@ -50,7 +50,7 @@ func (h *encoder) Read() (img image.Image, release func(), err error) {
 
 // NewEncoder returns an h264 encoder that can encode images of the given width and height. It will
 // also ensure that it produces key frames at the given interval.
-func NewEncoder(width, height, keyFrameInterval int, logger golog.Logger) (codec.VideoEncoder, error) {
+func NewEncoder(width, height, keyFrameInterval int, logger logging.Logger) (codec.VideoEncoder, error) {
 	h := &encoder{width: width, height: height, logger: logger}
 
 	if h.codec = avcodec.FindEncoderByName(V4l2m2m); h.codec == nil {
diff --git a/gostream/codec/h264/utils.go b/gostream/codec/h264/utils.go
index 76972d791c0..5e28b2832db 100644
--- a/gostream/codec/h264/utils.go
+++ b/gostream/codec/h264/utils.go
@@ -3,10 +3,9 @@
 package h264
 
 import (
-	"github.com/edaniels/golog"
-
 	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/gostream/codec"
+	"go.viam.com/rdk/logging"
 )
 
 // DefaultStreamConfig configures h264 as the encoder for a stream.
@@ -23,7 +22,7 @@ func NewEncoderFactory() codec.VideoEncoderFactory {
 
 type factory struct{}
 
-func (f *factory) New(width, height, keyFrameInterval int, logger golog.Logger) (codec.VideoEncoder, error) {
+func (f *factory) New(width, height, keyFrameInterval int, logger logging.Logger) (codec.VideoEncoder, error) {
 	return NewEncoder(width, height, keyFrameInterval, logger)
 }
 
diff --git a/gostream/codec/mmal/encoder.go b/gostream/codec/mmal/encoder.go
index 9a8a85e8452..0993a8b40ca 100644
--- a/gostream/codec/mmal/encoder.go
+++ b/gostream/codec/mmal/encoder.go
@@ -8,8 +8,8 @@ import (
 	"image"
 
 	ourcodec "go.viam.com/rdk/gostream/codec"
+	"go.viam.com/rdk/logging"
 
-	"github.com/edaniels/golog"
 	"github.com/pion/mediadevices/pkg/codec"
 	"github.com/pion/mediadevices/pkg/codec/mmal"
 	"github.com/pion/mediadevices/pkg/prop"
@@ -18,7 +18,7 @@ import (
 type encoder struct {
 	codec  codec.ReadCloser
 	img    image.Image
-	logger golog.Logger
+	logger logging.Logger
 }
 
 // Gives suitable results. Probably want to make this configurable this in the future.
@@ -26,7 +26,7 @@ const bitrate = 3_200_000
 
 // NewEncoder returns an MMAL encoder that can encode images of the given width and height. It will
 // also ensure that it produces key frames at the given interval.
-func NewEncoder(width, height, keyFrameInterval int, logger golog.Logger) (ourcodec.VideoEncoder, error) {
+func NewEncoder(width, height, keyFrameInterval int, logger logging.Logger) (ourcodec.VideoEncoder, error) {
 	enc := &encoder{logger: logger}
 
 	var builder codec.VideoEncoderBuilder
diff --git a/gostream/codec/mmal/utils.go b/gostream/codec/mmal/utils.go
index fecf15a82e4..5a328e4685d 100644
--- a/gostream/codec/mmal/utils.go
+++ b/gostream/codec/mmal/utils.go
@@ -6,7 +6,7 @@ import (
 	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/gostream/codec"
 
-	"github.com/edaniels/golog"
+	"go.viam.com/rdk/logging"
 )
 
 // DefaultStreamConfig configures MMAL as the encoder for a stream.
@@ -23,7 +23,7 @@ func NewEncoderFactory() codec.VideoEncoderFactory {
 
 type factory struct{}
 
-func (f *factory) New(width, height, keyFrameInterval int, logger golog.Logger) (codec.VideoEncoder, error) {
+func (f *factory) New(width, height, keyFrameInterval int, logger logging.Logger) (codec.VideoEncoder, error) {
 	return NewEncoder(width, height, keyFrameInterval, logger)
 }
 
diff --git a/gostream/codec/opus/encoder.go b/gostream/codec/opus/encoder.go
index 41e71e1abe4..6f44c05f17a 100644
--- a/gostream/codec/opus/encoder.go
+++ b/gostream/codec/opus/encoder.go
@@ -7,7 +7,6 @@ import (
 	"sync"
 	"time"
 
-	"github.com/edaniels/golog"
 	"github.com/pion/mediadevices/pkg/codec"
 	"github.com/pion/mediadevices/pkg/codec/opus"
 	"github.com/pion/mediadevices/pkg/prop"
@@ -15,13 +14,14 @@ import (
 	"go.viam.com/utils"
 
 	ourcodec "go.viam.com/rdk/gostream/codec"
+	"go.viam.com/rdk/logging"
 )
 
 type encoder struct {
 	codec                   codec.ReadCloser
 	chunkCh                 chan wave.Audio
 	encodedCh               chan encodedData
-	logger                  golog.Logger
+	logger                  logging.Logger
 	cancelCtx               context.Context
 	cancelFunc              func()
 	activeBackgroundWorkers sync.WaitGroup
@@ -37,7 +37,7 @@ type encodedData struct {
 
 // NewEncoder returns an Opus encoder that can encode images of the given width and height. It will
 // also ensure that it produces key frames at the given interval.
-func NewEncoder(sampleRate, channelCount int, latency time.Duration, logger golog.Logger) (ourcodec.AudioEncoder, error) {
+func NewEncoder(sampleRate, channelCount int, latency time.Duration, logger logging.Logger) (ourcodec.AudioEncoder, error) {
 	cancelCtx, cancelFunc := context.WithCancel(context.Background())
 	enc := &encoder{
 		chunkCh:    make(chan wave.Audio, 1),
diff --git a/gostream/codec/opus/utils.go b/gostream/codec/opus/utils.go
index e0de5bc1c7d..7d42eadb103 100644
--- a/gostream/codec/opus/utils.go
+++ b/gostream/codec/opus/utils.go
@@ -3,10 +3,9 @@ package opus
 import (
 	"time"
 
-	"github.com/edaniels/golog"
-
 	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/gostream/codec"
+	"go.viam.com/rdk/logging"
 )
 
 // DefaultStreamConfig configures Opus as the audio encoder for a stream.
@@ -23,7 +22,7 @@ func NewEncoderFactory() codec.AudioEncoderFactory {
 
 type factory struct{}
 
-func (f *factory) New(sampleRate, channelCount int, latency time.Duration, logger golog.Logger) (codec.AudioEncoder, error) {
+func (f *factory) New(sampleRate, channelCount int, latency time.Duration, logger logging.Logger) (codec.AudioEncoder, error) {
 	return NewEncoder(sampleRate, channelCount, latency, logger)
 }
 
diff --git a/gostream/codec/video_encoder.go b/gostream/codec/video_encoder.go
index 61471d2603b..6f479cb49bc 100644
--- a/gostream/codec/video_encoder.go
+++ b/gostream/codec/video_encoder.go
@@ -5,7 +5,7 @@ import (
 	"context"
 	"image"
 
-	"github.com/edaniels/golog"
+	"go.viam.com/rdk/logging"
 )
 
 // DefaultKeyFrameInterval is the default interval chosen
@@ -23,6 +23,6 @@ type VideoEncoder interface {
 
 // A VideoEncoderFactory produces VideoEncoders and provides information about the underlying encoder itself.
 type VideoEncoderFactory interface {
-	New(height, width, keyFrameInterval int, logger golog.Logger) (VideoEncoder, error)
+	New(height, width, keyFrameInterval int, logger logging.Logger) (VideoEncoder, error)
 	MIMEType() string
 }
diff --git a/gostream/codec/vpx/encoder.go b/gostream/codec/vpx/encoder.go
index 22489fb1751..20e6612cb3c 100644
--- a/gostream/codec/vpx/encoder.go
+++ b/gostream/codec/vpx/encoder.go
@@ -6,18 +6,18 @@ import (
 	"fmt"
 	"image"
 
-	"github.com/edaniels/golog"
 	"github.com/pion/mediadevices/pkg/codec"
 	"github.com/pion/mediadevices/pkg/codec/vpx"
 	"github.com/pion/mediadevices/pkg/prop"
 
 	ourcodec "go.viam.com/rdk/gostream/codec"
+	"go.viam.com/rdk/logging"
 )
 
 type encoder struct {
 	codec  codec.ReadCloser
 	img    image.Image
-	logger golog.Logger
+	logger logging.Logger
 }
 
 // Version determines the version of a vpx codec.
@@ -34,7 +34,7 @@ const bitrate = 3_200_000
 
 // NewEncoder returns a vpx encoder of the given type that can encode images of the given width and height. It will
 // also ensure that it produces key frames at the given interval.
-func NewEncoder(codecVersion Version, width, height, keyFrameInterval int, logger golog.Logger) (ourcodec.VideoEncoder, error) {
+func NewEncoder(codecVersion Version, width, height, keyFrameInterval int, logger logging.Logger) (ourcodec.VideoEncoder, error) {
 	enc := &encoder{logger: logger}
 
 	var builder codec.VideoEncoderBuilder
diff --git a/gostream/codec/vpx/utils.go b/gostream/codec/vpx/utils.go
index 4d4b80991df..5df607217e8 100644
--- a/gostream/codec/vpx/utils.go
+++ b/gostream/codec/vpx/utils.go
@@ -3,10 +3,9 @@ package vpx
 import (
 	"fmt"
 
-	"github.com/edaniels/golog"
-
 	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/gostream/codec"
+	"go.viam.com/rdk/logging"
 )
 
 // DefaultStreamConfig configures vpx as the encoder for a stream.
@@ -25,7 +24,7 @@ type factory struct {
 	codecVersion Version
 }
 
-func (f *factory) New(width, height, keyFrameInterval int, logger golog.Logger) (codec.VideoEncoder, error) {
+func (f *factory) New(width, height, keyFrameInterval int, logger logging.Logger) (codec.VideoEncoder, error) {
 	return NewEncoder(f.codecVersion, width, height, keyFrameInterval, logger)
 }
 
diff --git a/gostream/codec/x264/encoder.go b/gostream/codec/x264/encoder.go
index be1f33ca89a..fa14b35366d 100644
--- a/gostream/codec/x264/encoder.go
+++ b/gostream/codec/x264/encoder.go
@@ -5,18 +5,18 @@ import (
 	"context"
 	"image"
 
-	"github.com/edaniels/golog"
 	"github.com/pion/mediadevices/pkg/codec"
 	"github.com/pion/mediadevices/pkg/codec/x264"
 	"github.com/pion/mediadevices/pkg/prop"
 
 	ourcodec "go.viam.com/rdk/gostream/codec"
+	"go.viam.com/rdk/logging"
 )
 
 type encoder struct {
 	codec  codec.ReadCloser
 	img    image.Image
-	logger golog.Logger
+	logger logging.Logger
 }
 
 // Gives suitable results. Probably want to make this configurable this in the future.
@@ -24,7 +24,7 @@ const bitrate = 3_200_000
 
 // NewEncoder returns an x264 encoder that can encode images of the given width and height. It will
 // also ensure that it produces key frames at the given interval.
-func NewEncoder(width, height, keyFrameInterval int, logger golog.Logger) (ourcodec.VideoEncoder, error) {
+func NewEncoder(width, height, keyFrameInterval int, logger logging.Logger) (ourcodec.VideoEncoder, error) {
 	enc := &encoder{logger: logger}
 
 	var builder codec.VideoEncoderBuilder
diff --git a/gostream/codec/x264/encoder_test.go b/gostream/codec/x264/encoder_test.go
index b9285b627d8..a8b608fc280 100644
--- a/gostream/codec/x264/encoder_test.go
+++ b/gostream/codec/x264/encoder_test.go
@@ -10,9 +10,10 @@ import (
 	"os"
 	"testing"
 
-	"github.com/edaniels/golog"
 	"github.com/nfnt/resize"
 	"go.viam.com/test"
+
+	"go.viam.com/rdk/logging"
 )
 
 const (
@@ -54,7 +55,7 @@ func getResizedImageFromFile(b *testing.B, loc string) image.Image {
 
 func BenchmarkEncodeRGBA(b *testing.B) {
 	var w bool
-	var logger golog.Logger
+	var logger logging.Logger
 
 	imgCyan := getResizedImageFromFile(b, "../../data/cyan.png")
 	imgFuchsia := getResizedImageFromFile(b, "../../data/fuchsia.png")
@@ -77,7 +78,7 @@ func BenchmarkEncodeRGBA(b *testing.B) {
 
 func BenchmarkEncodeYCbCr(b *testing.B) {
 	var w bool
-	var logger golog.Logger
+	var logger logging.Logger
 	imgCyan := getResizedImageFromFile(b, "../../data/cyan.png")
 	imgFuchsia := getResizedImageFromFile(b, "../../data/fuchsia.png")
 
diff --git a/gostream/codec/x264/utils.go b/gostream/codec/x264/utils.go
index 36421f3a554..74761cf49a6 100644
--- a/gostream/codec/x264/utils.go
+++ b/gostream/codec/x264/utils.go
@@ -1,10 +1,9 @@
 package x264
 
 import (
-	"github.com/edaniels/golog"
-
 	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/gostream/codec"
+	"go.viam.com/rdk/logging"
 )
 
 // DefaultStreamConfig configures x264 as the encoder for a stream.
@@ -21,7 +20,7 @@ func NewEncoderFactory() codec.VideoEncoderFactory {
 
 type factory struct{}
 
-func (f *factory) New(width, height, keyFrameInterval int, logger golog.Logger) (codec.VideoEncoder, error) {
+func (f *factory) New(width, height, keyFrameInterval int, logger logging.Logger) (codec.VideoEncoder, error) {
 	return NewEncoder(width, height, keyFrameInterval, logger)
 }
 
diff --git a/gostream/query.go b/gostream/query.go
index ece276598ff..d95c3ea479b 100644
--- a/gostream/query.go
+++ b/gostream/query.go
@@ -7,7 +7,6 @@ import (
 	"strings"
 	"time"
 
-	"github.com/edaniels/golog"
 	"github.com/pion/mediadevices"
 	"github.com/pion/mediadevices/pkg/driver"
 	"github.com/pion/mediadevices/pkg/driver/availability"
@@ -16,6 +15,8 @@ import (
 	"github.com/pion/mediadevices/pkg/prop"
 	"github.com/pion/mediadevices/pkg/wave"
 	"github.com/pkg/errors"
+
+	"go.viam.com/rdk/logging"
 )
 
 // below adapted from github.com/pion/mediadevices
@@ -48,7 +49,7 @@ var DefaultConstraints = mediadevices.MediaStreamConstraints{
 func GetNamedScreenSource(
 	name string,
 	constraints mediadevices.MediaStreamConstraints,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (MediaSource[image.Image], error) {
 	d, selectedMedia, err := getScreenDriver(constraints, &name, logger)
 	if err != nil {
@@ -61,7 +62,7 @@ func GetNamedScreenSource(
 func GetPatternedScreenSource(
 	labelPattern *regexp.Regexp,
 	constraints mediadevices.MediaStreamConstraints,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (MediaSource[image.Image], error) {
 	d, selectedMedia, err := getScreenDriverPattern(constraints, labelPattern, logger)
 	if err != nil {
@@ -74,7 +75,7 @@ func GetPatternedScreenSource(
 func GetNamedVideoSource(
 	name string,
 	constraints mediadevices.MediaStreamConstraints,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (MediaSource[image.Image], error) {
 	d, selectedMedia, err := getUserVideoDriver(constraints, &name, logger)
 	if err != nil {
@@ -87,7 +88,7 @@ func GetNamedVideoSource(
 func GetPatternedVideoSource(
 	labelPattern *regexp.Regexp,
 	constraints mediadevices.MediaStreamConstraints,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (MediaSource[image.Image], error) {
 	d, selectedMedia, err := getUserVideoDriverPattern(constraints, labelPattern, logger)
 	if err != nil {
@@ -99,7 +100,7 @@ func GetPatternedVideoSource(
 // GetAnyScreenSource attempts to find any suitable screen device.
 func GetAnyScreenSource(
 	constraints mediadevices.MediaStreamConstraints,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (MediaSource[image.Image], error) {
 	d, selectedMedia, err := getScreenDriver(constraints, nil, logger)
 	if err != nil {
@@ -111,7 +112,7 @@ func GetAnyScreenSource(
 // GetAnyVideoSource attempts to find any suitable video device (not a screen).
 func GetAnyVideoSource(
 	constraints mediadevices.MediaStreamConstraints,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (MediaSource[image.Image], error) {
 	d, selectedMedia, err := getUserVideoDriver(constraints, nil, logger)
 	if err != nil {
@@ -123,7 +124,7 @@ func GetAnyVideoSource(
 // GetAnyAudioSource attempts to find any suitable audio device.
 func GetAnyAudioSource(
 	constraints mediadevices.MediaStreamConstraints,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (MediaSource[wave.Audio], error) {
 	d, selectedMedia, err := getUserAudioDriver(constraints, nil, logger)
 	if err != nil {
@@ -136,7 +137,7 @@ func GetAnyAudioSource(
 func GetNamedAudioSource(
 	name string,
 	constraints mediadevices.MediaStreamConstraints,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (MediaSource[wave.Audio], error) {
 	d, selectedMedia, err := getUserAudioDriver(constraints, &name, logger)
 	if err != nil {
@@ -149,7 +150,7 @@ func GetNamedAudioSource(
 func GetPatternedAudioSource(
 	labelPattern *regexp.Regexp,
 	constraints mediadevices.MediaStreamConstraints,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (MediaSource[wave.Audio], error) {
 	d, selectedMedia, err := getUserAudioDriverPattern(constraints, labelPattern, logger)
 	if err != nil {
@@ -235,7 +236,7 @@ func getDriverLabels(d driver.Driver, useSep bool) []string {
 func getScreenDriver(
 	constraints mediadevices.MediaStreamConstraints,
 	label *string,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (driver.Driver, prop.Media, error) {
 	var videoConstraints mediadevices.MediaTrackConstraints
 	if constraints.Video != nil {
@@ -247,7 +248,7 @@ func getScreenDriver(
 func getScreenDriverPattern(
 	constraints mediadevices.MediaStreamConstraints,
 	labelPattern *regexp.Regexp,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (driver.Driver, prop.Media, error) {
 	var videoConstraints mediadevices.MediaTrackConstraints
 	if constraints.Video != nil {
@@ -259,7 +260,7 @@ func getScreenDriverPattern(
 func getUserVideoDriver(
 	constraints mediadevices.MediaStreamConstraints,
 	label *string,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (driver.Driver, prop.Media, error) {
 	var videoConstraints mediadevices.MediaTrackConstraints
 	if constraints.Video != nil {
@@ -271,7 +272,7 @@ func getUserVideoDriver(
 func getUserVideoDriverPattern(
 	constraints mediadevices.MediaStreamConstraints,
 	labelPattern *regexp.Regexp,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (driver.Driver, prop.Media, error) {
 	var videoConstraints mediadevices.MediaTrackConstraints
 	if constraints.Video != nil {
@@ -308,7 +309,7 @@ func newVideoSourceFromDriver(
 func getUserAudioDriver(
 	constraints mediadevices.MediaStreamConstraints,
 	label *string,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (driver.Driver, prop.Media, error) {
 	var audioConstraints mediadevices.MediaTrackConstraints
 	if constraints.Audio != nil {
@@ -320,7 +321,7 @@ func getUserAudioDriver(
 func getUserAudioDriverPattern(
 	constraints mediadevices.MediaStreamConstraints,
 	labelPattern *regexp.Regexp,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (driver.Driver, prop.Media, error) {
 	var audioConstraints mediadevices.MediaTrackConstraints
 	if constraints.Audio != nil {
@@ -332,7 +333,7 @@ func getUserAudioDriverPattern(
 func newAudioSourceFromDriver(
 	audioDriver driver.Driver,
 	mediaProp prop.Media,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (MediaSource[wave.Audio], error) {
 	recorder, ok := audioDriver.(driver.AudioRecorder)
 	if !ok {
@@ -388,7 +389,7 @@ func labelFilterPattern(labelPattern *regexp.Regexp, useSep bool) driver.FilterF
 func selectVideo(
 	constraints mediadevices.MediaTrackConstraints,
 	label *string,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (driver.Driver, prop.Media, error) {
 	return selectBestDriver(getVideoFilterBase(), getVideoFilter(label), constraints, logger)
 }
@@ -396,7 +397,7 @@ func selectVideo(
 func selectVideoPattern(
 	constraints mediadevices.MediaTrackConstraints,
 	labelPattern *regexp.Regexp,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (driver.Driver, prop.Media, error) {
 	return selectBestDriver(getVideoFilterBase(), getVideoFilterPattern(labelPattern), constraints, logger)
 }
@@ -404,7 +405,7 @@ func selectVideoPattern(
 func selectScreen(
 	constraints mediadevices.MediaTrackConstraints,
 	label *string,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (driver.Driver, prop.Media, error) {
 	return selectBestDriver(getScreenFilterBase(), getScreenFilter(label), constraints, logger)
 }
@@ -412,7 +413,7 @@ func selectScreen(
 func selectScreenPattern(
 	constraints mediadevices.MediaTrackConstraints,
 	labelPattern *regexp.Regexp,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (driver.Driver, prop.Media, error) {
 	return selectBestDriver(getScreenFilterBase(), getScreenFilterPattern(labelPattern), constraints, logger)
 }
@@ -420,7 +421,7 @@ func selectScreenPattern(
 func selectAudio(
 	constraints mediadevices.MediaTrackConstraints,
 	label *string,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (driver.Driver, prop.Media, error) {
 	return selectBestDriver(getAudioFilterBase(), getAudioFilter(label), constraints, logger)
 }
@@ -483,7 +484,7 @@ func selectBestDriver(
 	baseFilter driver.FilterFn,
 	filter driver.FilterFn,
 	constraints mediadevices.MediaTrackConstraints,
-	logger golog.Logger,
+	logger logging.Logger,
 ) (driver.Driver, prop.Media, error) {
 	var bestDriver driver.Driver
 	var bestProp prop.Media
@@ -541,7 +542,7 @@ func selectBestDriver(
 
 func queryDriverProperties(
 	filter driver.FilterFn,
-	logger golog.Logger,
+	logger logging.Logger,
 ) map[driver.Driver][]prop.Media {
 	var needToClose []driver.Driver
 	drivers := driver.GetManager().Query(filter)
diff --git a/gostream/source_stream_utils.go b/gostream/source_stream_utils.go
index 720a6c227a6..cd4b1a2b1df 100644
--- a/gostream/source_stream_utils.go
+++ b/gostream/source_stream_utils.go
@@ -3,38 +3,39 @@ package gostream
 import (
 	"context"
 
-	"github.com/edaniels/golog"
 	"go.viam.com/utils"
+
+	"go.viam.com/rdk/logging"
 )
 
 // StreamVideoSource streams the given video source to the stream forever until context signals cancellation.
-func StreamVideoSource(ctx context.Context, vs VideoSource, stream Stream) error {
+func StreamVideoSource(ctx context.Context, vs VideoSource, stream Stream, logger logging.Logger) error {
 	return streamMediaSource(ctx, vs, stream, func(ctx context.Context, frameErr error) {
-		golog.Global().Debugw("error getting frame", "error", frameErr)
-	}, stream.InputVideoFrames)
+		logger.Debugw("error getting frame", "error", frameErr)
+	}, stream.InputVideoFrames, logger)
 }
 
 // StreamAudioSource streams the given video source to the stream forever until context signals cancellation.
-func StreamAudioSource(ctx context.Context, as AudioSource, stream Stream) error {
+func StreamAudioSource(ctx context.Context, as AudioSource, stream Stream, logger logging.Logger) error {
 	return streamMediaSource(ctx, as, stream, func(ctx context.Context, frameErr error) {
-		golog.Global().Debugw("error getting frame", "error", frameErr)
-	}, stream.InputAudioChunks)
+		logger.Debugw("error getting frame", "error", frameErr)
+	}, stream.InputAudioChunks, logger)
 }
 
 // StreamVideoSourceWithErrorHandler streams the given video source to the stream forever
 // until context signals cancellation, frame errors are sent via the error handler.
 func StreamVideoSourceWithErrorHandler(
-	ctx context.Context, vs VideoSource, stream Stream, errHandler ErrorHandler,
+	ctx context.Context, vs VideoSource, stream Stream, errHandler ErrorHandler, logger logging.Logger,
 ) error {
-	return streamMediaSource(ctx, vs, stream, errHandler, stream.InputVideoFrames)
+	return streamMediaSource(ctx, vs, stream, errHandler, stream.InputVideoFrames, logger)
 }
 
 // StreamAudioSourceWithErrorHandler streams the given audio source to the stream forever
 // until context signals cancellation, audio errors are sent via the error handler.
 func StreamAudioSourceWithErrorHandler(
-	ctx context.Context, as AudioSource, stream Stream, errHandler ErrorHandler,
+	ctx context.Context, as AudioSource, stream Stream, errHandler ErrorHandler, logger logging.Logger,
 ) error {
-	return streamMediaSource(ctx, as, stream, errHandler, stream.InputAudioChunks)
+	return streamMediaSource(ctx, as, stream, errHandler, stream.InputAudioChunks, logger)
 }
 
 // streamMediaSource will stream a source of media forever to the stream until the given context tells it to cancel.
@@ -44,6 +45,7 @@ func streamMediaSource[T, U any](
 	stream Stream,
 	errHandler ErrorHandler,
 	inputChan func(props U) (chan<- MediaReleasePair[T], error),
+	logger logging.Logger,
 ) error {
 	streamLoop := func() error {
 		readyCh, readyCtx := stream.StreamingReady()
@@ -57,10 +59,10 @@ func streamMediaSource[T, U any](
 			var err error
 			props, err = provider.MediaProperties(ctx)
 			if err != nil {
-				golog.Global().Debugw("no properties found for media; will assume empty", "error", err)
+				logger.Debugw("no properties found for media; will assume empty", "error", err)
 			}
 		} else {
-			golog.Global().Debug("no properties found for media; will assume empty")
+			logger.Debug("no properties found for media; will assume empty")
 		}
 		input, err := inputChan(props)
 		if err != nil {
diff --git a/gostream/stream.go b/gostream/stream.go
index a1be2785b29..687d72c0920 100644
--- a/gostream/stream.go
+++ b/gostream/stream.go
@@ -8,7 +8,6 @@ import (
 	"sync"
 	"time"
 
-	"github.com/edaniels/golog"
 	"github.com/google/uuid"
 	"github.com/pion/mediadevices/pkg/prop"
 	"github.com/pion/mediadevices/pkg/wave"
@@ -17,6 +16,7 @@ import (
 	"go.viam.com/utils"
 
 	"go.viam.com/rdk/gostream/codec"
+	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/rimage"
 	utils2 "go.viam.com/rdk/utils"
 )
@@ -60,11 +60,7 @@ type MediaReleasePair[T any] struct {
 
 // NewStream returns a newly configured stream that can begin to handle
 // new connections.
-func NewStream(config StreamConfig) (Stream, error) {
-	logger := config.Logger
-	if logger == nil {
-		logger = golog.Global()
-	}
+func NewStream(config StreamConfig, logger logging.Logger) (Stream, error) {
 	if config.VideoEncoderFactory == nil && config.AudioEncoderFactory == nil {
 		return nil, errors.New("at least one audio or video encoder factory must be set")
 	}
@@ -142,7 +138,7 @@ type basicStream struct {
 	shutdownCtx             context.Context
 	shutdownCtxCancel       func()
 	activeBackgroundWorkers sync.WaitGroup
-	logger                  golog.Logger
+	logger                  logging.Logger
 }
 
 func (bs *basicStream) Name() string {
diff --git a/gostream/stream_config.go b/gostream/stream_config.go
index 0b064e74b0e..63aa9694451 100644
--- a/gostream/stream_config.go
+++ b/gostream/stream_config.go
@@ -1,8 +1,6 @@
 package gostream
 
 import (
-	"github.com/edaniels/golog"
-
 	"go.viam.com/rdk/gostream/codec"
 )
 
@@ -14,6 +12,4 @@ type StreamConfig struct {
 
 	// TargetFrameRate will hint to the stream to try to maintain this frame rate.
 	TargetFrameRate int
-
-	Logger golog.Logger
 }
diff --git a/grpc/dial.go b/grpc/dial.go
index f7dd5d25207..bf4d25be839 100644
--- a/grpc/dial.go
+++ b/grpc/dial.go
@@ -35,7 +35,7 @@ func Dial(ctx context.Context, address string, logger logging.Logger, opts ...rp
 	ctx, cancel := contextutils.ContextWithTimeoutIfNoDeadline(ctx, defaultDialTimeout)
 	defer cancel()
 
-	return rpc.Dial(ctx, address, logger.AsZap(), optsCopy...)
+	return rpc.Dial(ctx, address, logger, optsCopy...)
 }
 
 // InferSignalingServerAddress returns the appropriate WebRTC signaling server address
diff --git a/grpc/shared_conn.go b/grpc/shared_conn.go
index ff99021cae3..8fc0c807189 100644
--- a/grpc/shared_conn.go
+++ b/grpc/shared_conn.go
@@ -192,7 +192,7 @@ func (sc *SharedConn) ResetConn(conn rpc.ClientConn, moduleLogger logging.Logger
 	}
 
 	sc.peerConn = peerConn
-	sc.peerConnReady, sc.peerConnClosed, err = rpc.ConfigureForRenegotiation(peerConn, rpc.PeerRoleClient, sc.logger.AsZap())
+	sc.peerConnReady, sc.peerConnClosed, err = rpc.ConfigureForRenegotiation(peerConn, rpc.PeerRoleClient, sc.logger)
 	if err != nil {
 		sc.logger.Warnw("Unable to create optional renegotiation channel for module. Ignoring.", "err", err)
 		return
@@ -371,7 +371,7 @@ func NewLocalPeerConnection(logger logging.Logger) (*webrtc.PeerConnection, erro
 	return pc, nil
 }
 
-// WebRTCLoggerFactory wraps a golog.Logger for use with pion's webrtc logging system.
+// WebRTCLoggerFactory wraps a logging.Logger for use with pion's webrtc logging system.
 type WebRTCLoggerFactory struct {
 	Logger logging.Logger
 }
diff --git a/grpc/shared_conn_test.go b/grpc/shared_conn_test.go
index a52d7b87baf..0b685feb342 100644
--- a/grpc/shared_conn_test.go
+++ b/grpc/shared_conn_test.go
@@ -27,7 +27,7 @@ func TestNewLocalPeerConnection(t *testing.T) {
 			defer cMu.Unlock()
 			clientCandates = append(clientCandates, i)
 		})
-		clientPeerConnReady, clientPeerConnClosed, err := rpc.ConfigureForRenegotiation(client, rpc.PeerRoleClient, logger.AsZap())
+		clientPeerConnReady, clientPeerConnClosed, err := rpc.ConfigureForRenegotiation(client, rpc.PeerRoleClient, logger)
 		test.That(t, err, test.ShouldBeNil)
 
 		var sMu sync.Mutex
@@ -42,7 +42,7 @@ func TestNewLocalPeerConnection(t *testing.T) {
 			test.That(t, client.Close(), test.ShouldBeNil)
 			<-clientPeerConnClosed
 		}()
-		serverPeerConnReady, serverPeerConnClosed, err := rpc.ConfigureForRenegotiation(server, rpc.PeerRoleServer, logger.AsZap())
+		serverPeerConnReady, serverPeerConnClosed, err := rpc.ConfigureForRenegotiation(server, rpc.PeerRoleServer, logger)
 		test.That(t, err, test.ShouldBeNil)
 		defer func() {
 			server.Close()
@@ -126,14 +126,14 @@ func signalPair(t *testing.T, left, right *webrtc.PeerConnection) {
 }
 
 func testClientServer(t *testing.T, client, server *webrtc.PeerConnection, logger logging.Logger) {
-	clientPeerConnReady, clientPeerConnClosed, err := rpc.ConfigureForRenegotiation(client, rpc.PeerRoleClient, logger.AsZap())
+	clientPeerConnReady, clientPeerConnClosed, err := rpc.ConfigureForRenegotiation(client, rpc.PeerRoleClient, logger)
 	test.That(t, err, test.ShouldBeNil)
 
 	defer func() {
 		test.That(t, client.Close(), test.ShouldBeNil)
 		<-clientPeerConnClosed
 	}()
-	serverPeerConnReady, serverPeerConnClosed, err := rpc.ConfigureForRenegotiation(server, rpc.PeerRoleServer, logger.AsZap())
+	serverPeerConnReady, serverPeerConnClosed, err := rpc.ConfigureForRenegotiation(server, rpc.PeerRoleServer, logger)
 	test.That(t, err, test.ShouldBeNil)
 	defer func() {
 		server.Close()
diff --git a/internal/cloud/service_test.go b/internal/cloud/service_test.go
index a5365492011..0784a1f9ced 100644
--- a/internal/cloud/service_test.go
+++ b/internal/cloud/service_test.go
@@ -32,7 +32,7 @@ func TestNotCloudManaged(t *testing.T) {
 func TestCloudManaged(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 
-	server, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	server, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	test.That(t, server.RegisterServiceServer(
@@ -146,7 +146,7 @@ func TestCloudManagedWithAuth(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 
 	server, err := rpc.NewServer(
-		logger.AsZap(),
+		logger,
 		rpc.WithAuthHandler(
 			utils.CredentialsTypeRobotSecret,
 			rpc.MakeSimpleMultiAuthHandler([]string{"foo"}, []string{"bar"}),
diff --git a/logging/logging.go b/logging/logging.go
index b78921feb16..c4c77cf4124 100644
--- a/logging/logging.go
+++ b/logging/logging.go
@@ -13,7 +13,7 @@ import (
 
 var (
 	globalMu     sync.RWMutex
-	globalLogger = NewDebugLogger("startup")
+	globalLogger = NewDebugLogger("global")
 
 	// GlobalLogLevel should be used whenever a zap logger is created that wants to obey the debug
 	// flag from the CLI or robot config.
@@ -126,13 +126,13 @@ type MemLogger struct {
 	Logger
 
 	tb       testing.TB
-	observer *observer.ObservedLogs
+	Observer *observer.ObservedLogs
 }
 
 // OutputLogs writes in-memory logs to the test object MemLogger was constructed with.
 func (memLogger *MemLogger) OutputLogs() {
 	appender := NewTestAppender(memLogger.tb)
-	for _, loggedEntry := range memLogger.observer.All() {
+	for _, loggedEntry := range memLogger.Observer.All() {
 		utils.UncheckedError(appender.Write(loggedEntry.Entry, loggedEntry.Context))
 	}
 }
diff --git a/logging/net_appender.go b/logging/net_appender.go
index 7c7aa773613..f3c215f81ff 100644
--- a/logging/net_appender.go
+++ b/logging/net_appender.go
@@ -439,7 +439,7 @@ func CreateNewGRPCClient(ctx context.Context, cloudCfg *CloudConfig) (rpc.Client
 		dialOpts = append(dialOpts, rpc.WithInsecure())
 	}
 
-	return rpc.DialDirectGRPC(ctx, grpcURL.Host, NewLogger("netlogger").AsZap(), dialOpts...)
+	return rpc.DialDirectGRPC(ctx, grpcURL.Host, NewLogger("netlogger"), dialOpts...)
 }
 
 // A NetAppender must implement a zapcore such that it gets copied when downconverting on
diff --git a/logging/net_appender_test.go b/logging/net_appender_test.go
index ad1b1822ddc..dd71fd011b1 100644
--- a/logging/net_appender_test.go
+++ b/logging/net_appender_test.go
@@ -85,7 +85,7 @@ func makeServerForRobotLogger(t *testing.T) serverForRobotLogger {
 	logger := NewTestLogger(t)
 	listener, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	robotService := &mockRobotService{expectedID: "abc-123"}
diff --git a/module/modmanager/manager.go b/module/modmanager/manager.go
index 81902f43d46..3c4b6ab6d76 100644
--- a/module/modmanager/manager.go
+++ b/module/modmanager/manager.go
@@ -1086,7 +1086,7 @@ func (m *module) startProcess(
 		pconf.Args = append(pconf.Args, fmt.Sprintf(logLevelArgumentTemplate, "debug"))
 	}
 
-	m.process = pexec.NewManagedProcess(pconf, logger.AsZap())
+	m.process = pexec.NewManagedProcess(pconf, logger)
 
 	if err := m.process.Start(context.Background()); err != nil {
 		return errors.WithMessage(err, "module startup failed")
diff --git a/module/module.go b/module/module.go
index ab41317e18b..38db990ca27 100644
--- a/module/module.go
+++ b/module/module.go
@@ -236,7 +236,7 @@ func NewModule(ctx context.Context, address string, logger logging.Logger) (*Mod
 	}
 
 	// attempt to configure PeerConnection
-	pcReady, pcClosed, err := rpc.ConfigureForRenegotiation(pc, rpc.PeerRoleServer, logger.AsZap())
+	pcReady, pcClosed, err := rpc.ConfigureForRenegotiation(pc, rpc.PeerRoleServer, logger)
 	if err != nil {
 		msg := "Error creating renegotiation channel for module. Unable to " +
 			"create optional peer connection for module. Skipping WebRTC for module..."
@@ -618,7 +618,7 @@ func (m *Module) ValidateConfig(ctx context.Context,
 // RemoveResource receives the request for resource removal.
 func (m *Module) RemoveResource(ctx context.Context, req *pb.RemoveResourceRequest) (*pb.RemoveResourceResponse, error) {
 	slowWatcher, slowWatcherCancel := utils.SlowGoroutineWatcher(
-		30*time.Second, fmt.Sprintf("module resource %q is taking a while to remove", req.Name), m.logger.AsZap())
+		30*time.Second, fmt.Sprintf("module resource %q is taking a while to remove", req.Name), m.logger)
 	defer func() {
 		slowWatcherCancel()
 		<-slowWatcher
diff --git a/robot/client/client_test.go b/robot/client/client_test.go
index 0d4f4ee12e4..d8fe3cf707b 100644
--- a/robot/client/client_test.go
+++ b/robot/client/client_test.go
@@ -15,7 +15,6 @@ import (
 	"testing"
 	"time"
 
-	"github.com/edaniels/golog"
 	"github.com/go-viper/mapstructure/v2"
 	"github.com/golang/geo/r3"
 	"github.com/google/uuid"
@@ -160,7 +159,7 @@ var resourceFunc2 = func(*pb.ResourceNamesRequest) (*pb.ResourceNamesResponse, e
 	return &pb.ResourceNamesResponse{Resources: rNames}, nil
 }
 
-func makeRPCServer(logger golog.Logger, option rpc.ServerOption) (rpc.Server, net.Listener, error) {
+func makeRPCServer(logger logging.Logger, option rpc.ServerOption) (rpc.Server, net.Listener, error) {
 	err := errors.New("failed to make rpc server")
 	var addr string
 	var listener net.Listener
@@ -197,10 +196,10 @@ func TestUnimplementedRPCSubtypes(t *testing.T) {
 	logger1 := logging.NewTestLogger(t)
 	logger2 := logging.NewTestLogger(t)
 
-	rpcServer1, listener1, err := makeRPCServer(logger1.AsZap(), rpc.WithUnauthenticated())
+	rpcServer1, listener1, err := makeRPCServer(logger1, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
-	rpcServer2, listener2, err := makeRPCServer(logger2.AsZap(), rpc.WithUnauthenticated())
+	rpcServer2, listener2, err := makeRPCServer(logger2, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	defer func() {
diff --git a/robot/impl/resource_manager.go b/robot/impl/resource_manager.go
index e15e99a597e..df06ca0c4fa 100644
--- a/robot/impl/resource_manager.go
+++ b/robot/impl/resource_manager.go
@@ -87,7 +87,7 @@ func newProcessManager(
 	if opts.untrustedEnv {
 		return pexec.NoopProcessManager
 	}
-	return pexec.NewProcessManager(logger.AsZap())
+	return pexec.NewProcessManager(logger)
 }
 
 func fromRemoteNameToRemoteNodeName(name string) resource.Name {
diff --git a/robot/packages/testutils/fake_package_server.go b/robot/packages/testutils/fake_package_server.go
index 8d131133d9d..8d5baba479c 100644
--- a/robot/packages/testutils/fake_package_server.go
+++ b/robot/packages/testutils/fake_package_server.go
@@ -105,7 +105,7 @@ func NewFakePackageServer(ctx context.Context, logger logging.Logger) (*FakePack
 		}
 	})
 
-	server.rpcServer, err = rpc.NewServer(logger.AsZap(),
+	server.rpcServer, err = rpc.NewServer(logger,
 		rpc.WithDisableMulticastDNS(),
 		rpc.WithUnauthenticated(),
 		rpc.WithWebRTCServerOptions(rpc.WebRTCServerOptions{Enable: false}))
@@ -143,7 +143,7 @@ func (c *FakePackagesClientAndGCSServer) Addr() net.Addr {
 
 // Client returns a connect client to the server and connection.
 func (c *FakePackagesClientAndGCSServer) Client(ctx context.Context) (pb.PackageServiceClient, rpc.ClientConn, error) {
-	conn, err := rpc.DialDirectGRPC(ctx, c.listener.Addr().String(), c.logger.AsZap(), rpc.WithInsecure())
+	conn, err := rpc.DialDirectGRPC(ctx, c.listener.Addr().String(), c.logger, rpc.WithInsecure())
 	if err != nil {
 		return nil, nil, err
 	}
diff --git a/robot/web/stream/server.go b/robot/web/stream/server.go
index 365851cf01d..3a69d2c0177 100644
--- a/robot/web/stream/server.go
+++ b/robot/web/stream/server.go
@@ -81,7 +81,7 @@ func (ss *Server) NewStream(config gostream.StreamConfig) (gostream.Stream, erro
 		return nil, &StreamAlreadyRegisteredError{config.Name}
 	}
 
-	stream, err := gostream.NewStream(config)
+	stream, err := gostream.NewStream(config, ss.logger)
 	if err != nil {
 		return nil, err
 	}
diff --git a/robot/web/stream/stream.go b/robot/web/stream/stream.go
index 554d19d15e3..da0f08ac469 100644
--- a/robot/web/stream/stream.go
+++ b/robot/web/stream/stream.go
@@ -23,7 +23,7 @@ func StreamVideoSource(
 	backoffOpts *BackoffTuningOptions,
 	logger logging.Logger,
 ) error {
-	return gostream.StreamVideoSourceWithErrorHandler(ctx, source, stream, backoffOpts.getErrorThrottledHandler(logger))
+	return gostream.StreamVideoSourceWithErrorHandler(ctx, source, stream, backoffOpts.getErrorThrottledHandler(logger), logger)
 }
 
 // StreamAudioSource starts a stream from an audio source with a throttled error handler.
@@ -34,7 +34,7 @@ func StreamAudioSource(
 	backoffOpts *BackoffTuningOptions,
 	logger logging.Logger,
 ) error {
-	return gostream.StreamAudioSourceWithErrorHandler(ctx, source, stream, backoffOpts.getErrorThrottledHandler(logger))
+	return gostream.StreamAudioSourceWithErrorHandler(ctx, source, stream, backoffOpts.getErrorThrottledHandler(logger), logger)
 }
 
 // BackoffTuningOptions represents a set of parameters for determining exponential
diff --git a/robot/web/web.go b/robot/web/web.go
index cc74b157d84..181e43c0d0e 100644
--- a/robot/web/web.go
+++ b/robot/web/web.go
@@ -501,7 +501,7 @@ func (svc *webService) runWeb(ctx context.Context, options weboptions.Options) (
 		return err
 	}
 
-	svc.rpcServer, err = rpc.NewServer(svc.logger.AsZap(), rpcOpts...)
+	svc.rpcServer, err = rpc.NewServer(svc.logger, rpcOpts...)
 	if err != nil {
 		return err
 	}
diff --git a/robot/web/web_c.go b/robot/web/web_c.go
index 8c70d8821fb..a841a617fc1 100644
--- a/robot/web/web_c.go
+++ b/robot/web/web_c.go
@@ -192,7 +192,7 @@ func (svc *webService) makeStreamServer(ctx context.Context) (*StreamServer, err
 		} else {
 			config.AudioEncoderFactory = svc.opts.streamConfig.AudioEncoderFactory
 		}
-		stream, err := gostream.NewStream(config)
+		stream, err := gostream.NewStream(config, svc.logger)
 		if err != nil {
 			return streams, err
 		}
diff --git a/services/datamanager/client_test.go b/services/datamanager/client_test.go
index 25821e6f898..e454a24121b 100644
--- a/services/datamanager/client_test.go
+++ b/services/datamanager/client_test.go
@@ -23,7 +23,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	var extraOptions map[string]interface{}
diff --git a/services/generic/client_test.go b/services/generic/client_test.go
index efb6e039bcb..3f2bddf4e1f 100644
--- a/services/generic/client_test.go
+++ b/services/generic/client_test.go
@@ -25,7 +25,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	workingGeneric := &inject.GenericService{}
diff --git a/services/mlmodel/client_test.go b/services/mlmodel/client_test.go
index ed601b547e2..a7a9e5c656e 100644
--- a/services/mlmodel/client_test.go
+++ b/services/mlmodel/client_test.go
@@ -26,7 +26,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	fakeModel := inject.NewMLModelService(testMLModelServiceName)
diff --git a/services/mlmodel/tflitecpu/tflite_cpu_test.go b/services/mlmodel/tflitecpu/tflite_cpu_test.go
index 06fa6a17726..72a6d617a3c 100644
--- a/services/mlmodel/tflitecpu/tflite_cpu_test.go
+++ b/services/mlmodel/tflitecpu/tflite_cpu_test.go
@@ -214,7 +214,7 @@ func TestTFLiteCPUClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	modelParams := TFLiteConfig{ // classifier config
diff --git a/services/motion/client_test.go b/services/motion/client_test.go
index 5ced09e6358..4e33d355a1c 100644
--- a/services/motion/client_test.go
+++ b/services/motion/client_test.go
@@ -40,7 +40,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	injectMS := &inject.MotionService{}
diff --git a/services/navigation/client_test.go b/services/navigation/client_test.go
index bb311d87126..db47149badc 100644
--- a/services/navigation/client_test.go
+++ b/services/navigation/client_test.go
@@ -34,7 +34,7 @@ func TestClient(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 	listener2, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	workingServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	workingServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 	failingServer := grpc.NewServer()
 
diff --git a/services/sensors/client_test.go b/services/sensors/client_test.go
index 5f1c4b07413..c94d373153c 100644
--- a/services/sensors/client_test.go
+++ b/services/sensors/client_test.go
@@ -24,7 +24,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	var extraOptions map[string]interface{}
diff --git a/services/shell/client_test.go b/services/shell/client_test.go
index f4adeb5d2cd..13314737ca2 100644
--- a/services/shell/client_test.go
+++ b/services/shell/client_test.go
@@ -22,7 +22,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	injectShell := &inject.ShellService{}
diff --git a/services/slam/client_test.go b/services/slam/client_test.go
index 37af60e3c09..76f0ec2e1e2 100644
--- a/services/slam/client_test.go
+++ b/services/slam/client_test.go
@@ -38,7 +38,7 @@ func TestClientWorkingService(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	workingServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	workingServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 	poseSucc := spatial.NewPose(r3.Vector{X: 1, Y: 2, Z: 3}, &spatial.OrientationVector{Theta: math.Pi / 2, OX: 0, OY: 0, OZ: -1})
 	pcSucc := &vision.Object{}
@@ -275,7 +275,7 @@ func TestFailingClient(t *testing.T) {
 	listener, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
 
-	failingServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	failingServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	pcFail := &vision.Object{}
diff --git a/services/vision/client_test.go b/services/vision/client_test.go
index 73c0d22bb5e..1ad58d86161 100644
--- a/services/vision/client_test.go
+++ b/services/vision/client_test.go
@@ -26,7 +26,7 @@ func TestClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	srv := &inject.VisionService{}
@@ -159,7 +159,7 @@ func TestInjectedServiceClient(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	listener1, err := net.Listen("tcp", "localhost:0")
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	injectVision := &inject.VisionService{}
diff --git a/testutils/module_utils.go b/testutils/module_utils.go
index 7f3b3d77f8c..c697f5e2984 100644
--- a/testutils/module_utils.go
+++ b/testutils/module_utils.go
@@ -27,7 +27,7 @@ func MakeRobotForModuleLogging(t *testing.T, parentAddr string) rpc.Server {
 	logger := logging.NewTestLogger(t)
 	listener, err := net.Listen("unix", parentAddr)
 	test.That(t, err, test.ShouldBeNil)
-	rpcServer, err := rpc.NewServer(logger.AsZap(), rpc.WithUnauthenticated())
+	rpcServer, err := rpc.NewServer(logger, rpc.WithUnauthenticated())
 	test.That(t, err, test.ShouldBeNil)
 
 	robotService := &mockRobotService{}
diff --git a/testutils/robottestutils/robot_utils.go b/testutils/robottestutils/robot_utils.go
index a6fa09095a3..a68f9e40586 100644
--- a/testutils/robottestutils/robot_utils.go
+++ b/testutils/robottestutils/robot_utils.go
@@ -109,7 +109,7 @@ func ServerAsSeparateProcess(t *testing.T, cfgFileName string, logger logging.Lo
 		CWD:         utils.ResolveFile("./"),
 		Environment: map[string]string{"HOME": testTempHome},
 		Log:         true,
-	}, logger.AsZap())
+	}, logger)
 	return server
 }
 
diff --git a/web/server/entrypoint.go b/web/server/entrypoint.go
index 578c95d8df6..e6e0c7d021f 100644
--- a/web/server/entrypoint.go
+++ b/web/server/entrypoint.go
@@ -222,7 +222,7 @@ func (s *robotServer) serveWeb(ctx context.Context, cfg *config.Config) (err err
 
 	hungShutdownDeadline := 90 * time.Second
 	slowWatcher, slowWatcherCancel := utils.SlowGoroutineWatcherAfterContext(
-		ctx, hungShutdownDeadline, "server is taking a while to shutdown", s.logger.AsZap())
+		ctx, hungShutdownDeadline, "server is taking a while to shutdown", s.logger)
 
 	doneServing := make(chan struct{})
 
diff --git a/web/server/entrypoint_test.go b/web/server/entrypoint_test.go
index eaa8a9a1f5a..ef178052b8c 100644
--- a/web/server/entrypoint_test.go
+++ b/web/server/entrypoint_test.go
@@ -124,8 +124,8 @@ func TestShutdown(t *testing.T) {
 		testLogger := logging.NewTestLogger(t)
 		// Pass in a separate logger to the managed server process that only outputs WARN+
 		// logs. This avoids the test spamming stdout with stack traces from the shutdown command.
-		serverLogger, serverLogObserver := logging.NewObservedTestLogger(t)
-		serverLogger.SetLevel(logging.WARN)
+		serverLogger := logging.NewInMemoryLogger(t)
+		serverLogObserver := serverLogger.Observer
 
 		cfgFilename := utils.ResolveFile("/etc/configs/fake.json")
 		cfg, err := config.Read(context.Background(), cfgFilename, testLogger)