diff --git a/.gitmodules b/.gitmodules
index 760f658..ba636e8 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,20 +1,10 @@
-[submodule "src/witmotion_ros"]
-	path = src/witmotion_ros
-	url = https://github.com/ElettraSciComp/witmotion_IMU_ros.git
-	branch = ros2
-[submodule "src/Livox-SDK2"]
-	path = src/Livox-SDK2
-	url = https://github.com/tu-darmstadt-ros-pkg/Livox-SDK2.git
-	branch = jazzy
-[submodule "src/livox_ros_driver2"]
-	path = src/livox_ros_driver2
-	url = https://github.com/tu-darmstadt-ros-pkg/livox_ros_driver2
-	branch = jazzy
-[submodule "src/FAST_LIO"]
-	path = src/FAST_LIO
-	url = https://github.com/Ericsii/FAST_LIO.git
-	branch = ros2
 [submodule "src/livox_ros2_driver"]
 	path = src/livox_ros2_driver
 	url = https://github.com/Livox-SDK/livox_ros2_driver
 	branch = fix_build_error
+[submodule "src/scans_merger"]
+	path = src/scans_merger
+	url = https://github.com/LCAS/scans_merger.git
+[submodule "src/micro-ROS-Agent"]
+	path = src/micro-ROS-Agent
+	url = https://github.com/micro-ROS/micro-ROS-Agent.git
diff --git a/src/micro-ROS-Agent b/src/micro-ROS-Agent
new file mode 160000
index 0000000..f0d8091
--- /dev/null
+++ b/src/micro-ROS-Agent
@@ -0,0 +1 @@
+Subproject commit f0d809138de19a61fe1a640d5c5a3076cd648360
diff --git a/src/scans_merger b/src/scans_merger
new file mode 160000
index 0000000..ef325aa
--- /dev/null
+++ b/src/scans_merger
@@ -0,0 +1 @@
+Subproject commit ef325aa2db7b6b31c48d5129cc9b5523b0578dcf