diff --git a/franka_ros2 b/franka_ros2
index 1768569..4cea20f 160000
--- a/franka_ros2
+++ b/franka_ros2
@@ -1 +1 @@
-Subproject commit 1768569ca011cdcdf0a56be6e882d0a8800e594d
+Subproject commit 4cea20feee12b2403bc6a7d2eaee98801e048f8f
diff --git a/libfranka b/libfranka
index 457021b..3fe9b08 160000
--- a/libfranka
+++ b/libfranka
@@ -1 +1 @@
-Subproject commit 457021b7f05493046bc43f159f3e4e703c5e88b3
+Subproject commit 3fe9b0853f4be58258814fb69921e5c59e81a9c5
diff --git a/source/franka_ros2.rst b/source/franka_ros2.rst
index 5d2d881..48c2914 100644
--- a/source/franka_ros2.rst
+++ b/source/franka_ros2.rst
@@ -27,7 +27,7 @@ Prerequisites
    sudo apt install -y libpoco-dev libeigen3-dev
    git clone https://github.com/frankaemika/libfranka.git --recursive
    cd libfranka
-   git switch 0.13.0
+   git switch 0.13.2
    mkdir build && cd build
    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF  ..
    cmake --build . -j$(nproc)