diff --git a/src/viam/examples/modules/example_module.cpp b/src/viam/examples/modules/example_module.cpp
index 4770a1c5c..b53db8df4 100644
--- a/src/viam/examples/modules/example_module.cpp
+++ b/src/viam/examples/modules/example_module.cpp
@@ -78,7 +78,7 @@ int MyModule::which_ = 0;
 
 int main(int argc, char** argv) {
     if (argc < 2) {
-        throw "need socket path as command line argument";
+        throw std::runtime_error("need socket path as command line argument");
     }
 
     // Use set_logger_severity_from_args to set the boost trivial logger's
diff --git a/src/viam/sdk/CMakeLists.txt b/src/viam/sdk/CMakeLists.txt
index b46770d83..5a6b79dd0 100644
--- a/src/viam/sdk/CMakeLists.txt
+++ b/src/viam/sdk/CMakeLists.txt
@@ -43,6 +43,7 @@ target_sources(viamsdk
     # consider making all necessary runtime values a single `context` that has to
     # be initialized within main before anything else happens?
     registry/registry.cpp
+    common/exception.cpp
     common/linear_algebra.cpp
     common/proto_type.cpp
     common/utils.cpp
diff --git a/src/viam/sdk/common/exception.cpp b/src/viam/sdk/common/exception.cpp
new file mode 100644
index 000000000..5f45a7f39
--- /dev/null
+++ b/src/viam/sdk/common/exception.cpp
@@ -0,0 +1,68 @@
+#include <grpc/status.h>
+#include <viam/sdk/common/exception.hpp>
+namespace viam {
+namespace sdk {
+
+ViamException::ViamException(const std::string& what)
+    : std::runtime_error("ViamException: " + what), error_code_(ViamErrorCode::unknown){};
+
+ViamException::ViamException(const std::string& type,
+                             const ViamErrorCode& code,
+                             const std::string& what)
+    : std::runtime_error("ViamException(" + type + "): " + what), error_code_(code){};
+
+ViamException::~ViamException() = default;
+
+ViamException::ViamException(const ::grpc::Status& status_code)
+    : ViamException(status_code.error_message() + " " + status_code.error_details()) {}
+
+ViamException ViamException::from_viam_error_code(ViamErrorCode code) {
+    switch (code) {
+        case ViamErrorCode::ok: {
+            return ViamException(
+                "Ran ViamException::from_viam_error_code on an \'ok\' value. Check the code value "
+                "first.");
+        }
+        case ViamErrorCode::permission_denied: {
+            return PermissionDeniedException();
+        }
+        case ViamErrorCode::duplicate_resource: {
+            return DuplicateResourceException();
+        }
+        case ViamErrorCode::unimplemented: {
+            return UnimplementedException();
+        }
+        case ViamErrorCode::validation: {
+            return ValidationException();
+        }
+        case ViamErrorCode::connection: {
+            return ConnectionException();
+        }
+        case ViamErrorCode::unknown:
+        default: {
+            return ViamException();
+        }
+    }
+}
+
+ViamErrorCode ViamException::get_error_code() const noexcept {
+    return error_code_;
+}
+
+PermissionDeniedException::PermissionDeniedException(const std::string& what)
+    : ViamException("PermissionDenied", ViamErrorCode::permission_denied, what){};
+
+DuplicateResourceException::DuplicateResourceException(const std::string& what)
+    : ViamException("DuplicateResource", ViamErrorCode::duplicate_resource, what){};
+
+UnimplementedException::UnimplementedException(const std::string& what)
+    : ViamException("Unimplemented", ViamErrorCode::unimplemented, what){};
+
+ValidationException::ValidationException(const std::string& what)
+    : ViamException("Validation", ViamErrorCode::validation, what){};
+
+ConnectionException::ConnectionException(const std::string& what)
+    : ViamException("Connection", ViamErrorCode::connection, what){};
+
+}  // namespace sdk
+}  // namespace viam
diff --git a/src/viam/sdk/common/exception.hpp b/src/viam/sdk/common/exception.hpp
new file mode 100644
index 000000000..2fd2f359e
--- /dev/null
+++ b/src/viam/sdk/common/exception.hpp
@@ -0,0 +1,69 @@
+#pragma once
+#include <grpc/status.h>
+#include <grpcpp/impl/codegen/status.h>
+#include <iostream>
+#include <sstream>
+#include <stdexcept>
+#include <string>
+
+namespace viam {
+namespace sdk {
+
+enum class ViamErrorCode : uint8_t {
+    // Used to indicate no error
+    ok = 0,
+    // Default error code for ViamException
+    unknown = 1,
+    permission_denied = 2,
+    duplicate_resource = 3,
+    unimplemented = 4,
+    validation = 5,
+    connection = 6
+};
+
+class ViamException : public std::runtime_error {
+   public:
+    explicit ViamException(const std::string& what = "unknown");
+
+    explicit ViamException(const std::string& type,
+                           const ViamErrorCode& code,
+                           const std::string& what);
+
+    explicit ViamException(const ::grpc::Status& status_code);
+
+    static ViamException from_viam_error_code(ViamErrorCode code);
+
+    virtual ~ViamException();
+
+    ViamErrorCode get_error_code() const noexcept;
+
+   private:
+    ViamErrorCode error_code_;
+};
+
+class PermissionDeniedException : public ViamException {
+   public:
+    explicit PermissionDeniedException(const std::string& what = "unknown");
+};
+
+class DuplicateResourceException : public ViamException {
+   public:
+    explicit DuplicateResourceException(const std::string& what = "unknown");
+};
+
+class UnimplementedException : public ViamException {
+   public:
+    explicit UnimplementedException(const std::string& what = "unknown");
+};
+
+class ValidationException : public ViamException {
+   public:
+    explicit ValidationException(const std::string& what = "unknown");
+};
+
+class ConnectionException : public ViamException {
+   public:
+    explicit ConnectionException(const std::string& what = "unknown");
+};
+}  // namespace sdk
+}  // namespace viam
diff --git a/src/viam/sdk/common/proto_type.cpp b/src/viam/sdk/common/proto_type.cpp
index 1fa6f0340..2e395d698 100644
--- a/src/viam/sdk/common/proto_type.cpp
+++ b/src/viam/sdk/common/proto_type.cpp
@@ -10,6 +10,7 @@
 #include <boost/variant/variant.hpp>
 #include <google/protobuf/struct.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/config/resource.hpp>
 
 namespace viam {
@@ -127,7 +128,7 @@ Value ProtoType::proto_value() {
             break;
         }
         default: {
-            throw std::runtime_error(
+            throw ViamException(
                 "Invalid proto_value conversion type. This should never happen;\
 						please file a bug report.");
         }
@@ -190,8 +191,9 @@ bool operator==(const ProtoType& lhs, const ProtoType& rhs) {
             return std::equal(lhs_vec.begin(), lhs_vec.end(), rhs_vec.begin(), rhs_vec.end(), pred);
         }
         default: {
-            throw "Invalid proto_value conversion type. This should never happen;\
-                   please file a bug report.";
+            throw ViamException(
+                "Invalid proto_value conversion type. This should never happen;\
+                   please file a bug report.");
         }
     }
 }
diff --git a/src/viam/sdk/components/base/base.cpp b/src/viam/sdk/components/base/base.cpp
index 59179600d..d025fe2ce 100644
--- a/src/viam/sdk/components/base/base.cpp
+++ b/src/viam/sdk/components/base/base.cpp
@@ -5,6 +5,7 @@
 #include <viam/api/component/base/v1/base.grpc.pb.h>
 #include <viam/api/component/base/v1/base.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/base/client.hpp>
 #include <viam/sdk/components/base/server.hpp>
@@ -32,7 +33,7 @@ std::shared_ptr<ResourceRegistration> Base::resource_registration() {
     const google::protobuf::ServiceDescriptor* sd =
         p->FindServiceByName(viam::component::base::v1::BaseService::service_full_name());
     if (!sd) {
-        throw std::runtime_error("Unable to get service descriptor for the base service");
+        throw ViamException("Unable to get service descriptor for the base service");
     }
     return std::make_shared<BaseRegistration>(sd);
 }
diff --git a/src/viam/sdk/components/base/client.cpp b/src/viam/sdk/components/base/client.cpp
index c8f6bd058..27844d0b0 100644
--- a/src/viam/sdk/components/base/client.cpp
+++ b/src/viam/sdk/components/base/client.cpp
@@ -9,6 +9,7 @@
 #include <viam/api/common/v1/common.pb.h>
 #include <viam/api/component/base/v1/base.grpc.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/linear_algebra.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/base/base.hpp>
@@ -35,7 +36,7 @@ void BaseClient::move_straight(int64_t distance_mm, double mm_per_sec) {
 
     const grpc::Status status = stub_->MoveStraight(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
 }
 
@@ -51,7 +52,7 @@ void BaseClient::spin(double angle_deg, double degs_per_sec) {
 
     const grpc::Status status = stub_->Spin(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
 }
 
@@ -67,7 +68,7 @@ void BaseClient::set_power(const Vector3& linear, const Vector3& angular) {
 
     const grpc::Status status = stub_->SetPower(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
 }
 
@@ -83,7 +84,7 @@ void BaseClient::set_velocity(const Vector3& linear, const Vector3& angular) {
 
     const grpc::Status status = stub_->SetVelocity(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
 }
 
@@ -101,7 +102,7 @@ grpc::StatusCode BaseClient::stop() {
 
     const grpc::Status status = stub_->Stop(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return status.error_code();
 }
@@ -116,7 +117,7 @@ bool BaseClient::is_moving() {
 
     const grpc::Status status = stub_->IsMoving(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return response.is_moving();
 }
@@ -133,7 +134,7 @@ AttributeMap BaseClient::do_command(AttributeMap command) {
 
     const grpc::Status status = stub_->DoCommand(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return struct_to_map(response.result());
 }
diff --git a/src/viam/sdk/components/board/board.cpp b/src/viam/sdk/components/board/board.cpp
index fcca9e95f..e5e542687 100644
--- a/src/viam/sdk/components/board/board.cpp
+++ b/src/viam/sdk/components/board/board.cpp
@@ -5,6 +5,7 @@
 #include <viam/api/component/board/v1/board.grpc.pb.h>
 #include <viam/api/component/board/v1/board.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/board/client.hpp>
 #include <viam/sdk/components/board/server.hpp>
@@ -32,7 +33,7 @@ std::shared_ptr<ResourceRegistration> Board::resource_registration() {
     const google::protobuf::ServiceDescriptor* sd =
         p->FindServiceByName(viam::component::board::v1::BoardService::service_full_name());
     if (!sd) {
-        throw std::runtime_error("Unable to get service descriptor for the board service");
+        throw ViamException("Unable to get service descriptor for the board service");
     }
     return std::make_shared<BoardRegistration>(sd);
 }
@@ -74,7 +75,7 @@ Board::power_mode Board::from_proto(viam::component::board::v1::PowerMode proto)
         }
         case viam::component::board::v1::POWER_MODE_UNSPECIFIED:
         default: {
-            throw std::runtime_error("Invalid proto board power_mode to decode");
+            throw ViamException("Invalid proto board power_mode to decode");
         }
     }
 }
@@ -112,7 +113,7 @@ viam::component::board::v1::PowerMode Board::to_proto(Board::power_mode power_mo
             return viam::component::board::v1::POWER_MODE_OFFLINE_DEEP;
         }
         default: {
-            throw std::runtime_error("Invalid board power_mode to encode");
+            throw ViamException("Invalid board power_mode to encode");
         }
     }
 }
diff --git a/src/viam/sdk/components/board/client.cpp b/src/viam/sdk/components/board/client.cpp
index 06569cbdc..32f91879b 100644
--- a/src/viam/sdk/components/board/client.cpp
+++ b/src/viam/sdk/components/board/client.cpp
@@ -9,6 +9,7 @@
 #include <viam/api/common/v1/common.pb.h>
 #include <viam/api/component/board/v1/board.grpc.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/board/board.hpp>
 #include <viam/sdk/config/resource.hpp>
@@ -32,7 +33,7 @@ Board::status BoardClient::get_status() {
 
     const grpc::Status status = stub_->Status(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return from_proto(response.status());
 }
@@ -48,7 +49,7 @@ void BoardClient::set_gpio(const std::string& pin, bool high) {
     request.set_high(high);
     const grpc::Status status = stub_->SetGPIO(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
 }
 
@@ -63,7 +64,7 @@ bool BoardClient::get_gpio(const std::string& pin) {
 
     const grpc::Status status = stub_->GetGPIO(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return response.high();
 }
@@ -79,7 +80,7 @@ double BoardClient::get_pwm_duty_cycle(const std::string& pin) {
 
     const grpc::Status status = stub_->PWM(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return response.duty_cycle_pct();
 }
@@ -96,7 +97,7 @@ void BoardClient::set_pwm_duty_cycle(const std::string& pin, double duty_cycle_p
 
     const grpc::Status status = stub_->SetPWM(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
 }
 
@@ -111,7 +112,7 @@ uint64_t BoardClient::get_pwm_frequency(const std::string& pin) {
 
     const grpc::Status status = stub_->PWMFrequency(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return response.frequency_hz();
 }
@@ -128,7 +129,7 @@ void BoardClient::set_pwm_frequency(const std::string& pin, uint64_t frequency_h
 
     const grpc::Status status = stub_->SetPWMFrequency(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
 }
 
@@ -144,7 +145,7 @@ AttributeMap BoardClient::do_command(AttributeMap command) {
 
     const grpc::Status status = stub_->DoCommand(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return struct_to_map(response.result());
 }
@@ -160,7 +161,7 @@ Board::analog_value BoardClient::read_analog(const std::string& analog_reader_na
 
     const grpc::Status status = stub_->ReadAnalogReader(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return response.value();
 }
@@ -177,7 +178,7 @@ Board::digital_value BoardClient::read_digital_interrupt(
 
     const grpc::Status status = stub_->GetDigitalInterruptValue(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return response.value();
 }
@@ -197,7 +198,7 @@ void BoardClient::set_power_mode(power_mode power_mode,
 
     const grpc::Status status = stub_->SetPowerMode(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
 }
 
diff --git a/src/viam/sdk/components/camera/camera.cpp b/src/viam/sdk/components/camera/camera.cpp
index 9c1557c4c..18438c58a 100644
--- a/src/viam/sdk/components/camera/camera.cpp
+++ b/src/viam/sdk/components/camera/camera.cpp
@@ -6,6 +6,7 @@
 #include <viam/api/component/camera/v1/camera.grpc.pb.h>
 #include <viam/api/component/camera/v1/camera.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/camera/client.hpp>
 #include <viam/sdk/components/camera/server.hpp>
@@ -34,7 +35,7 @@ std::shared_ptr<ResourceRegistration> Camera::resource_registration() {
     const google::protobuf::ServiceDescriptor* sd =
         p->FindServiceByName(viam::component::camera::v1::CameraService::service_full_name());
     if (!sd) {
-        throw std::runtime_error("Unable to get service descriptor for the camera service");
+        throw ViamException("Unable to get service descriptor for the camera service");
     }
     return std::make_shared<CameraRegistration>(sd);
 }
diff --git a/src/viam/sdk/components/encoder/client.cpp b/src/viam/sdk/components/encoder/client.cpp
index b6213b052..7febf0fe0 100644
--- a/src/viam/sdk/components/encoder/client.cpp
+++ b/src/viam/sdk/components/encoder/client.cpp
@@ -9,6 +9,7 @@
 #include <viam/api/common/v1/common.pb.h>
 #include <viam/api/component/encoder/v1/encoder.grpc.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/encoder/encoder.hpp>
 #include <viam/sdk/config/resource.hpp>
@@ -33,7 +34,7 @@ Encoder::position EncoderClient::get_position(position_type position_type) {
 
     const grpc::Status status = stub_->GetPosition(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return from_proto(response);
 }
@@ -48,7 +49,7 @@ void EncoderClient::reset_position() {
 
     const grpc::Status status = stub_->ResetPosition(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
 }
 
@@ -62,7 +63,7 @@ Encoder::properties EncoderClient::get_properties() {
 
     const grpc::Status status = stub_->GetProperties(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return from_proto(response);
 }
@@ -79,7 +80,7 @@ AttributeMap EncoderClient::do_command(AttributeMap command) {
 
     const grpc::Status status = stub_->DoCommand(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return struct_to_map(response.result());
 }
diff --git a/src/viam/sdk/components/encoder/encoder.cpp b/src/viam/sdk/components/encoder/encoder.cpp
index 9e8fdeb14..663234499 100644
--- a/src/viam/sdk/components/encoder/encoder.cpp
+++ b/src/viam/sdk/components/encoder/encoder.cpp
@@ -5,6 +5,7 @@
 #include <viam/api/component/encoder/v1/encoder.grpc.pb.h>
 #include <viam/api/component/encoder/v1/encoder.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/encoder/client.hpp>
 #include <viam/sdk/components/encoder/server.hpp>
@@ -33,7 +34,7 @@ std::shared_ptr<ResourceRegistration> Encoder::resource_registration() {
     const google::protobuf::ServiceDescriptor* sd =
         p->FindServiceByName(viam::component::encoder::v1::EncoderService::service_full_name());
     if (!sd) {
-        throw std::runtime_error("Unable to get service descriptor for the encoder service");
+        throw ViamException("Unable to get service descriptor for the encoder service");
     }
     return std::make_shared<EncoderRegistration>(sd);
 }
@@ -58,7 +59,7 @@ Encoder::position_type Encoder::from_proto(viam::component::encoder::v1::Positio
             return Encoder::position_type::ticks_count;
         }
         default: {
-            throw std::runtime_error("Invalid proto encoder type to decode");
+            throw ViamException("Invalid proto encoder type to decode");
         }
     }
 }
@@ -91,7 +92,7 @@ viam::component::encoder::v1::PositionType Encoder::to_proto(position_type posit
             return viam::component::encoder::v1::POSITION_TYPE_TICKS_COUNT;
         }
         default: {
-            throw std::runtime_error("Invalid proto encoder type to encode");
+            throw ViamException("Invalid proto encoder type to encode");
         }
     }
 }
diff --git a/src/viam/sdk/components/generic/generic.cpp b/src/viam/sdk/components/generic/generic.cpp
index 791e4751c..41d0b1824 100644
--- a/src/viam/sdk/components/generic/generic.cpp
+++ b/src/viam/sdk/components/generic/generic.cpp
@@ -6,6 +6,7 @@
 
 #include <viam/api/component/generic/v1/generic.grpc.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/generic/client.hpp>
 #include <viam/sdk/components/generic/server.hpp>
@@ -34,7 +35,7 @@ std::shared_ptr<ResourceRegistration> Generic::resource_registration() {
     const google::protobuf::ServiceDescriptor* sd =
         p->FindServiceByName(viam::component::generic::v1::GenericService::service_full_name());
     if (!sd) {
-        throw std::runtime_error("Unable to get service descriptor for the generic service");
+        throw ViamException("Unable to get service descriptor for the generic service");
     }
     return std::make_shared<GenericRegistration>(sd);
 }
diff --git a/src/viam/sdk/components/motor/client.cpp b/src/viam/sdk/components/motor/client.cpp
index f4991fe7b..49b5b310a 100644
--- a/src/viam/sdk/components/motor/client.cpp
+++ b/src/viam/sdk/components/motor/client.cpp
@@ -9,6 +9,7 @@
 #include <viam/api/common/v1/common.pb.h>
 #include <viam/api/component/motor/v1/motor.grpc.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/motor/motor.hpp>
 #include <viam/sdk/config/resource.hpp>
@@ -33,7 +34,7 @@ void MotorClient::set_power(double power_pct) {
 
     const grpc::Status status = stub_->SetPower(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
 }
 
@@ -49,7 +50,7 @@ void MotorClient::go_for(double rpm, double revolutions) {
 
     const grpc::Status status = stub_->GoFor(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
 }
 
@@ -65,7 +66,7 @@ void MotorClient::go_to(double rpm, double position_revolutions) {
 
     const grpc::Status status = stub_->GoTo(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
 }
 
@@ -80,7 +81,7 @@ void MotorClient::reset_zero_position(double offset) {
 
     const grpc::Status status = stub_->ResetZeroPosition(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
 }
 
@@ -94,7 +95,7 @@ Motor::position MotorClient::get_position() {
 
     const grpc::Status status = stub_->GetPosition(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return from_proto(response);
 }
@@ -109,7 +110,7 @@ Motor::properties MotorClient::get_properties() {
 
     const grpc::Status status = stub_->GetProperties(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return from_proto(response);
 }
@@ -136,7 +137,7 @@ Motor::power_status MotorClient::get_power_status() {
 
     const grpc::Status status = stub_->IsPowered(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return from_proto(response);
 }
@@ -151,7 +152,7 @@ bool MotorClient::is_moving() {
 
     const grpc::Status status = stub_->IsMoving(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return response.is_moving();
 }
@@ -168,7 +169,7 @@ AttributeMap MotorClient::do_command(AttributeMap command) {
 
     const grpc::Status status = stub_->DoCommand(&ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw ViamException(status);
     }
     return struct_to_map(response.result());
 }
diff --git a/src/viam/sdk/components/motor/motor.cpp b/src/viam/sdk/components/motor/motor.cpp
index e4c319102..7e285ff08 100644
--- a/src/viam/sdk/components/motor/motor.cpp
+++ b/src/viam/sdk/components/motor/motor.cpp
@@ -5,6 +5,7 @@
 #include <viam/api/component/motor/v1/motor.grpc.pb.h>
 #include <viam/api/component/motor/v1/motor.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/motor/client.hpp>
 #include <viam/sdk/components/motor/server.hpp>
@@ -31,7 +32,7 @@ std::shared_ptr<ResourceRegistration> Motor::resource_registration() {
     const google::protobuf::ServiceDescriptor* sd =
         p->FindServiceByName(viam::component::motor::v1::MotorService::service_full_name());
     if (!sd) {
-        throw std::runtime_error("Unable to get service descriptor for the motor service");
+        throw ViamException("Unable to get service descriptor for the motor service");
     }
     return std::make_shared<MotorRegistration>(sd);
 }
diff --git a/src/viam/sdk/components/motor/motor.hpp b/src/viam/sdk/components/motor/motor.hpp
index f9593c8e7..df116f864 100644
--- a/src/viam/sdk/components/motor/motor.hpp
+++ b/src/viam/sdk/components/motor/motor.hpp
@@ -94,23 +94,23 @@ class Motor : public Component {
     /// `revolutions` == 0, this will run the motor at `rpm` indefinetely. If `revolutions` != 0,
     /// this will block until the number of revolutions has been completed or another operation
     /// comes in.
-    /// @throws runtime_error if position reporting is not supported
+    /// @throws `ViamException` if position reporting is not supported
     virtual void go_for(double rpm, double revolutions) = 0;
 
     /// @brief Move the motor to a specific position that is relative to its
     /// home position at a specified speed which is expressed in RPM.
     /// @param rpm Speed of motor travel in rotations per minute
     /// @param position_revolutions Number of revolutions relative to motor's home home/zero
-    /// @throws runtime_error if position reporting is not supported
+    /// @throws `ViamException` if position reporting is not supported
     virtual void go_to(double rpm, double position_revolutions) = 0;
 
     /// @brief Sets the current position of the motor as the new zero position.
     /// @param offset Motor position
-    /// @throws runtime_error if position reporting is not supported
+    /// @throws `ViamException` if position reporting is not supported
     virtual void reset_zero_position(double offset) = 0;
 
     /// @brief Reports the position of the robot's motor relative to its zero position.
-    /// @throws runtime_error if position reporting is not supported
+    /// @throws `ViamException` if position reporting is not supported
     virtual position get_position() = 0;
 
     /// @brief Returns the properties of the motor which comprises the booleans indicating
diff --git a/src/viam/sdk/config/resource.cpp b/src/viam/sdk/config/resource.cpp
index cd021e683..cdf02d5cf 100644
--- a/src/viam/sdk/config/resource.cpp
+++ b/src/viam/sdk/config/resource.cpp
@@ -9,6 +9,7 @@
 #include <viam/api/app/v1/robot.pb.h>
 #include <viam/api/robot/v1/robot.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/proto_type.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/referenceframe/frame.hpp>
@@ -18,11 +19,7 @@ namespace viam {
 namespace sdk {
 
 Name ResourceConfig::resource_name() {
-    try {
-        this->fix_api();
-    } catch (std::string err) {  // NOLINT
-        throw err;
-    }
+    this->fix_api();
     std::vector<std::string> remotes;
     // NOLINTNEXTLINE(clang-analyzer-cplusplus.NewDeleteLeaks)
     boost::split(remotes, this->name_, boost::is_any_of(":"));
@@ -88,7 +85,7 @@ void ResourceConfig::fix_api() {
     // config structs
     if (this->api_.type_namespace() != this->namespace__ ||
         this->api_.resource_subtype() != this->type_) {
-        throw "component namespace and/or type do not match component api field";
+        throw ViamException("component namespace and/or type do not match component api field");
     }
 }
 
@@ -104,11 +101,7 @@ ResourceConfig ResourceConfig::from_proto(viam::app::v1::ComponentConfig proto_c
     }
     resource.model_ = Model::from_str(proto_cfg.model());
 
-    try {
-        resource.fix_api();
-    } catch (std::string err) {  // NOLINT
-        throw err;
-    }
+    resource.fix_api();
 
     if (proto_cfg.has_frame()) {
         resource.frame_ = LinkConfig::from_proto(proto_cfg.frame());
diff --git a/src/viam/sdk/registry/registry.cpp b/src/viam/sdk/registry/registry.cpp
index ac15e142a..df1d7d021 100644
--- a/src/viam/sdk/registry/registry.cpp
+++ b/src/viam/sdk/registry/registry.cpp
@@ -12,6 +12,7 @@
 
 #include <viam/api/robot/v1/robot.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/components/component.hpp>
 #include <viam/sdk/components/generic/generic.hpp>
 #include <viam/sdk/resource/resource.hpp>
@@ -40,7 +41,7 @@ void Registry::register_model(std::shared_ptr<ModelRegistration> resource) {
     const std::string reg_key = resource->api().to_string() + "/" + resource->model().to_string();
     if (resources_.find(reg_key) != resources_.end()) {
         const std::string err = "Cannot add resource with name " + reg_key + "as it already exists";
-        throw std::runtime_error(err);
+        throw DuplicateResourceException(err);
     }
 
     resources_.emplace(reg_key, resource);
@@ -49,7 +50,7 @@ void Registry::register_model(std::shared_ptr<ModelRegistration> resource) {
 void Registry::register_resource(API api,
                                  std::shared_ptr<ResourceRegistration> resource_registration) {
     if (apis_.find(api) != apis_.end()) {
-        throw std::runtime_error("Cannot add api " + api.to_string() + " as it already exists");
+        throw ViamException("Cannot add api " + api.to_string() + " as it already exists");
     }
 
     apis_.emplace(std::move(api), std::move(resource_registration));
diff --git a/src/viam/sdk/registry/registry.hpp b/src/viam/sdk/registry/registry.hpp
index 9c99db5bf..cd815faa9 100644
--- a/src/viam/sdk/registry/registry.hpp
+++ b/src/viam/sdk/registry/registry.hpp
@@ -120,7 +120,7 @@ class Registry {
    public:
     /// @brief Registers a resource with the Registry.
     /// @param resource An object containing resource registration information.
-    /// @throws `std::runtime_error` if the resource has already been registered.
+    /// @throws `DuplicateResourceException` if the resource has already been registered.
     static void register_model(std::shared_ptr<ModelRegistration> resource);
 
     /// @brief Lookup a given registered resource.
diff --git a/src/viam/sdk/resource/resource_api.cpp b/src/viam/sdk/resource/resource_api.cpp
index 782b64149..2350a4eee 100644
--- a/src/viam/sdk/resource/resource_api.cpp
+++ b/src/viam/sdk/resource/resource_api.cpp
@@ -10,6 +10,7 @@
 
 #include <viam/api/common/v1/common.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/component.hpp>
 
@@ -66,7 +67,7 @@ API API::from_string(std::string api) {
         boost::split(api_parts, api, boost::is_any_of(":"));
         return {api_parts.at(0), api_parts.at(1), api_parts.at(2)};
     }
-    throw "string " + api + " is not a valid api name";
+    throw ViamException("string " + api + " is not a valid api name");
 }
 
 API::API(APIType type, std::string resource_subtype)
@@ -121,7 +122,7 @@ viam::common::v1::ResourceName Name::to_proto() const {
 
 Name Name::from_string(std::string name) {
     if (!std::regex_match(name, NAME_REGEX)) {
-        throw "Received invalid Name string: " + name;
+        throw ViamException("Received invalid Name string: " + name);
     }
     std::vector<std::string> slash_splits;
     boost::split(slash_splits, name, boost::is_any_of("/"));
@@ -201,7 +202,7 @@ Model Model::from_str(std::string model) {
     if (std::regex_match(model, SINGLE_FIELD_REGEX)) {
         return {"rdk", "builtin", model};
     }
-    throw std::runtime_error("string " + model + " is not a valid model name");
+    throw ViamException("string " + model + " is not a valid model name");
 }
 
 std::string ModelFamily::to_string() const {
diff --git a/src/viam/sdk/resource/resource_api.hpp b/src/viam/sdk/resource/resource_api.hpp
index e8df2397a..24214622f 100644
--- a/src/viam/sdk/resource/resource_api.hpp
+++ b/src/viam/sdk/resource/resource_api.hpp
@@ -116,7 +116,7 @@ class Model {
     /// @brief Parses a single model string into a Model, using default values for namespace and
     /// family if not provided.
     ///
-    /// @throws `std::runtime_error` if given an invalid model (i.e., one with non-word characters).
+    /// @throws `ViamException` if given an invalid model (i.e., one with non-word characters).
     static Model from_str(std::string model);
     friend bool operator==(const Model& lhs, const Model& rhs);
 
diff --git a/src/viam/sdk/resource/resource_manager.cpp b/src/viam/sdk/resource/resource_manager.cpp
index 201b82856..036b90fdf 100644
--- a/src/viam/sdk/resource/resource_manager.cpp
+++ b/src/viam/sdk/resource/resource_manager.cpp
@@ -14,6 +14,7 @@
 
 #include <viam/api/component/generic/v1/generic.grpc.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/registry/registry.hpp>
 #include <viam/sdk/resource/resource.hpp>
 #include <viam/sdk/resource/resource_api.hpp>
@@ -67,7 +68,7 @@ std::string get_shortcut_name(const std::string& name) {
 
 void ResourceManager::do_add(const Name& name, const std::shared_ptr<Resource>& resource) {
     if (name.name().empty()) {
-        throw "Empty name used for resource: " + name.to_string();
+        throw ViamException("Empty name used for resource: " + name.to_string());
     }
     const std::string short_name = name.short_name();
 
@@ -76,7 +77,7 @@ void ResourceManager::do_add(const Name& name, const std::shared_ptr<Resource>&
 
 void ResourceManager::do_add(const std::string& name, const std::shared_ptr<Resource>& resource) {
     if (resources_.find(name) != resources_.end()) {
-        throw "Attempted to add resource that already existed: " + name;
+        throw DuplicateResourceException("Attempted to add resource that already existed: " + name);
     }
 
     resources_.emplace(name, resource);
@@ -103,7 +104,8 @@ void ResourceManager::add(const Name& name, const std::shared_ptr<Resource>& res
 void ResourceManager::do_remove(const Name& name) {
     const std::string short_name = name.short_name();
     if (resources_.find(short_name) == resources_.end()) {
-        throw "attempted to remove resource " + name.to_string() + " but it didn't exist!";
+        throw ViamException("attempted to remove resource " + name.to_string() +
+                            " but it didn't exist!");
     }
     resources_.erase(short_name);
 
diff --git a/src/viam/sdk/resource/resource_manager.hpp b/src/viam/sdk/resource/resource_manager.hpp
index 26929b5e0..f23835a18 100644
--- a/src/viam/sdk/resource/resource_manager.hpp
+++ b/src/viam/sdk/resource/resource_manager.hpp
@@ -24,7 +24,7 @@ class ResourceManager {
    public:
     /// @brief Returns a resource.
     /// @param name the name of the desired resource.
-    /// @throws `std::runtime_error` if the desired resource does not exist.
+    /// @throws `ViamException` if the desired resource does not exist.
     std::shared_ptr<Resource> resource(const std::string& name);
 
     /// @brief Replaces all resources in the manager.
diff --git a/src/viam/sdk/robot/client.hpp b/src/viam/sdk/robot/client.hpp
index fed6f2658..135988f20 100644
--- a/src/viam/sdk/robot/client.hpp
+++ b/src/viam/sdk/robot/client.hpp
@@ -72,7 +72,7 @@ class RobotClient {
 
     /// @brief Lookup and return a `shared_ptr` to a resource.
     /// @param name The `ResourceName` of the resource.
-    /// @throws `std::runtime_error` if the requested resource doesn't exist or is the wrong type.
+    /// @throws `ViamException` if the requested resource doesn't exist or is the wrong type.
     /// @return a `shared_ptr` to the requested resource as an uncasted `Resource`.
     ///
     /// This method should not be called directly except in specific cases. The
@@ -86,7 +86,7 @@ class RobotClient {
     template <typename T>
     /// @brief Lookup and return a `shared_ptr` to a resource of the requested type.
     /// @param name The ordinary name of the resource.
-    /// @throws `std::runtime_error` if the requested resource doesn't exist or is the wrong type.
+    /// @throws `ViamException` if the requested resource doesn't exist or is the wrong type.
     /// @return a `shared_ptr` to the requested resource.
     std::shared_ptr<T> resource_by_name(std::string name) {
         ResourceName r;
diff --git a/src/viam/sdk/rpc/dial.cpp b/src/viam/sdk/rpc/dial.cpp
index 02a68cb46..b08476460 100644
--- a/src/viam/sdk/rpc/dial.cpp
+++ b/src/viam/sdk/rpc/dial.cpp
@@ -12,6 +12,8 @@
 #include <viam/api/robot/v1/robot.grpc.pb.h>
 #include <viam/api/robot/v1/robot.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
+
 extern "C" void* init_rust_runtime();
 extern "C" int free_rust_runtime(void* ptr);
 extern "C" void free_string(const char* s);
@@ -66,9 +68,7 @@ std::shared_ptr<ViamChannel> ViamChannel::dial(const char* uri,
     char* socket_path = ::dial(uri, payload, opts.allows_insecure_downgrade(), ptr);
     if (socket_path == NULL) {
         free_rust_runtime(ptr);
-        // TODO(RSDK-1742) Replace throwing of strings with throwing of
-        // runtime_error
-        throw "Unable to establish connecting path!";
+        throw ViamException("Unable to establish connecting path!");
     }
 
     std::string address("unix://");
diff --git a/src/viam/sdk/rpc/server.cpp b/src/viam/sdk/rpc/server.cpp
index 60954bf2d..35548698c 100644
--- a/src/viam/sdk/rpc/server.cpp
+++ b/src/viam/sdk/rpc/server.cpp
@@ -1,3 +1,4 @@
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/rpc/server.hpp>
 
 #include <grpcpp/ext/proto_server_reflection_plugin.h>
@@ -14,7 +15,7 @@ Server::~Server() {
 
 void Server::register_service(grpc::Service* service) {
     if (!builder_) {
-        throw "Cannot register a new service after the server has started";
+        throw ViamException("Cannot register a new service after the server has started");
     }
 
     builder_->RegisterService(service);
@@ -22,7 +23,7 @@ void Server::register_service(grpc::Service* service) {
 
 void Server::start() {
     if (server_) {
-        throw std::runtime_error("Attempted to start server that was already running");
+        throw ViamException("Attempted to start server that was already running");
     }
 
     grpc::reflection::InitProtoReflectionServerBuilderPlugin();
@@ -33,7 +34,7 @@ void Server::start() {
 void Server::add_listening_port(std::string address,
                                 std::shared_ptr<grpc::ServerCredentials> creds) {
     if (!builder_) {
-        throw "Cannot add a listening port after server has started";
+        throw ViamException("Cannot add a listening port after server has started");
     }
 
     if (!creds) {
diff --git a/src/viam/sdk/rpc/server.hpp b/src/viam/sdk/rpc/server.hpp
index eb86d44d9..fed3cb6ea 100644
--- a/src/viam/sdk/rpc/server.hpp
+++ b/src/viam/sdk/rpc/server.hpp
@@ -18,7 +18,7 @@ class Server {
     ~Server();
 
     /// @brief Starts the grpc server. Can only be called once.
-    /// @throws `std::runtime_error` if the server was already `start`ed.
+    /// @throws `ViamException` if the server was already `start`ed.
     /// repeated calls.
     void start();
 
@@ -26,13 +26,13 @@ class Server {
     // grpc service type, and convert under the hood
     /// @brief Registers a gRPC service.
     /// @param service The gRPC service to be registered.
-    /// @throws `std::runtime_error` if called after the server has been `start`ed.
+    /// @throws `ViamException` if called after the server has been `start`ed.
     void register_service(grpc::Service* service);
 
     /// @brief Adds a listening port to the server.
     /// @param address The address to listen at.
     /// @param creds The server credentials; defaults to a insecure server credentials.
-    /// @throws `std::runtime_error` if called after the server has been `start`ed.
+    /// @throws `ViamException` if called after the server has been `start`ed.
     void add_listening_port(std::string address,
                             std::shared_ptr<grpc::ServerCredentials> creds = nullptr);
 
diff --git a/src/viam/sdk/spatialmath/geometry.cpp b/src/viam/sdk/spatialmath/geometry.cpp
index 243cce2c3..819f89e5a 100644
--- a/src/viam/sdk/spatialmath/geometry.cpp
+++ b/src/viam/sdk/spatialmath/geometry.cpp
@@ -5,6 +5,7 @@
 
 #include <viam/api/common/v1/common.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/spatialmath/orientation.hpp>
 
 namespace viam {
@@ -68,7 +69,7 @@ GeometryConfig GeometryConfig::from_proto(const viam::common::v1::Geometry& prot
         }
         case viam::common::v1::Geometry::GeometryTypeCase::GEOMETRY_TYPE_NOT_SET:
         default: {
-            throw "Geometry type is not supported";
+            throw UnimplementedException("Geometry type is not supported");
         }
     }
 }
diff --git a/src/viam/sdk/spatialmath/orientation.cpp b/src/viam/sdk/spatialmath/orientation.cpp
index 56c814986..29762f3fb 100644
--- a/src/viam/sdk/spatialmath/orientation.cpp
+++ b/src/viam/sdk/spatialmath/orientation.cpp
@@ -8,6 +8,7 @@
 
 #include <viam/api/app/v1/robot.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/spatialmath/orientation_types.hpp>
 
 namespace viam {
@@ -81,7 +82,7 @@ OrientationConfig OrientationConfig::from_proto(proto::Orientation proto) {
         }
         case proto::Orientation::TypeCase::TYPE_NOT_SET:
         default: {
-            throw std::runtime_error("orientation type not known");
+            throw ViamException("orientation type not known");
         }
     }
     return cfg;
@@ -141,7 +142,7 @@ proto::Orientation OrientationConfig::to_proto() const {
             return orientation;
         };
         default: {
-            throw std::runtime_error("orientation type not known");
+            throw ViamException("orientation type not known");
         }
     }
 }
diff --git a/src/viam/sdk/tests/mocks/generic_mocks.hpp b/src/viam/sdk/tests/mocks/generic_mocks.hpp
index 1980b9529..8830b2b6e 100644
--- a/src/viam/sdk/tests/mocks/generic_mocks.hpp
+++ b/src/viam/sdk/tests/mocks/generic_mocks.hpp
@@ -4,6 +4,7 @@
 #include <viam/api/component/camera/v1/camera.grpc.pb.h>
 #include <viam/api/component/camera/v1/camera.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/components/generic/client.hpp>
 #include <viam/sdk/components/generic/generic.hpp>
 #include <viam/sdk/components/generic/server.hpp>
@@ -47,14 +48,14 @@ class MockGenericStub : public viam::component::generic::v1::GenericService::Stu
         ::grpc::ClientContext* context,
         const ::viam::common::v1::DoCommandRequest& request,
         ::grpc::CompletionQueue* cq) override {
-        throw std::runtime_error("Unimplemented");
+        throw UnimplementedException("ClientAsycResponseReader");
     };
 
     ::grpc::ClientAsyncResponseReader<::viam::common::v1::DoCommandResponse>*
     PrepareAsyncDoCommandRaw(::grpc::ClientContext* context,
                              const ::viam::common::v1::DoCommandRequest& request,
                              ::grpc::CompletionQueue* cq) override {
-        throw std::runtime_error("Unimplemented");
+        throw UnimplementedException("PrepareAsyncDoCommandRaw");
     };
 
     ::grpc::ClientAsyncResponseReaderInterface<::viam::common::v1::GetGeometriesResponse>*
diff --git a/src/viam/sdk/tests/mocks/mock_motor.cpp b/src/viam/sdk/tests/mocks/mock_motor.cpp
index 35a3852c0..ce4a1a25e 100644
--- a/src/viam/sdk/tests/mocks/mock_motor.cpp
+++ b/src/viam/sdk/tests/mocks/mock_motor.cpp
@@ -6,6 +6,7 @@
 #include <viam/api/component/motor/v1/motor.grpc.pb.h>
 #include <viam/api/component/motor/v1/motor.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/components/motor/motor.hpp>
 #include <viam/sdk/components/motor/server.hpp>
 #include <viam/sdk/resource/resource.hpp>
@@ -24,7 +25,7 @@ void MockMotor::set_power(double power_pct) {
 void MockMotor::go_for(double rpm, double revolutions) {
     // This is the actual behavior from rdk:builtin:fake_motor
     if (rpm == 0.0) {
-        throw std::runtime_error("Cannot move motor at 0 RPM");
+        throw ViamException("Cannot move motor at 0 RPM");
     }
     position_ += revolutions;
 };
diff --git a/src/viam/sdk/tests/test_motor.cpp b/src/viam/sdk/tests/test_motor.cpp
index c2d22c5ff..3110e039c 100644
--- a/src/viam/sdk/tests/test_motor.cpp
+++ b/src/viam/sdk/tests/test_motor.cpp
@@ -11,6 +11,7 @@
 #include <viam/api/component/motor/v1/motor.grpc.pb.h>
 #include <viam/api/component/motor/v1/motor.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/proto_type.hpp>
 #include <viam/sdk/components/motor/client.hpp>
 #include <viam/sdk/components/motor/motor.hpp>
@@ -85,7 +86,7 @@ BOOST_AUTO_TEST_CASE(mock_do_command) {
 
 BOOST_AUTO_TEST_CASE(mock_exception_creation) {
     std::shared_ptr<MockMotor> motor = MockMotor::get_mock_motor();
-    BOOST_CHECK_THROW(motor->go_for(0.0, 1.0), std::runtime_error);
+    BOOST_CHECK_THROW(motor->go_for(0.0, 1.0), ViamException);
 }
 
 BOOST_AUTO_TEST_SUITE_END()
@@ -207,9 +208,8 @@ BOOST_AUTO_TEST_CASE(test_do_command) {
 }
 
 BOOST_AUTO_TEST_CASE(test_exception_creation) {
-    server_to_mock_pipeline([](Motor& client) -> void {
-        BOOST_CHECK_THROW(client.go_for(0.0, 1.0), std::runtime_error);
-    });
+    server_to_mock_pipeline(
+        [](Motor& client) -> void { BOOST_CHECK_THROW(client.go_for(0.0, 1.0), ViamException); });
 }
 
 BOOST_AUTO_TEST_SUITE_END()