diff --git a/.gitmodules b/.gitmodules
index 1e42a63..fc782f4 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,9 +1,9 @@
 [submodule "localization/lidar/LIO-SAM"]
 	path = localization/lidar/LIO-SAM
-	url = https://github.com/EPFLXplore/LIO-SAM-Xplore.git
+	url = git@github.com:EPFLXplore/LIO-SAM-Xplore.git
 [submodule "sensors/lidar/ros2_ouster_drivers"]
 	path = sensors/lidar/ros2_ouster_drivers
-	url = https://github.com/EPFLXplore/ros2_ouster_drivers_Xplore.git
+	url = git@github.com:EPFLXplore/ros2_ouster_drivers_Xplore.git
 [submodule "xplore_description"]
 	path = xplore_description
 	url = git@github.com:EPFLXplore/ERC_DESCRIPTION.git
diff --git a/custom_msg b/custom_msg
index caf2952..4f46db4 160000
--- a/custom_msg
+++ b/custom_msg
@@ -1 +1 @@
-Subproject commit caf2952507e49865567156efdec66f6cd282d567
+Subproject commit 4f46db4b4a2e0acc78d4e6943afe12552d2c7b4f
diff --git a/localization/lidar/LIO-SAM b/localization/lidar/LIO-SAM
index 11331de..db2e312 160000
--- a/localization/lidar/LIO-SAM
+++ b/localization/lidar/LIO-SAM
@@ -1 +1 @@
-Subproject commit 11331def3f154c5e9939c7483938fce72ded5a59
+Subproject commit db2e31228e5ae10066ab5c217eeca0907b2e2678
diff --git a/sensors/lidar/ros2_ouster_drivers b/sensors/lidar/ros2_ouster_drivers
index a5e614b..fe8f8a4 160000
--- a/sensors/lidar/ros2_ouster_drivers
+++ b/sensors/lidar/ros2_ouster_drivers
@@ -1 +1 @@
-Subproject commit a5e614b3ccb39b4e1fe3ec8738c01223f1df7f60
+Subproject commit fe8f8a498395b788eca0716892dadf1c344df409
diff --git a/xplore_description b/xplore_description
index eeee771..0165675 160000
--- a/xplore_description
+++ b/xplore_description
@@ -1 +1 @@
-Subproject commit eeee771fbb7887c0ccd95a8320002bd2fd79b634
+Subproject commit 01656759dbae3c92b45b8f9a6668abe7ca8eb07b