diff --git a/src/Universal_Robots_ROS2_Description b/src/Universal_Robots_ROS2_Description
new file mode 160000
index 0000000..f5394b8
--- /dev/null
+++ b/src/Universal_Robots_ROS2_Description
@@ -0,0 +1 @@
+Subproject commit f5394b8e7439632d26719cd7b47ee9102a921078
diff --git a/src/Universal_Robots_ROS2_Driver b/src/Universal_Robots_ROS2_Driver
new file mode 160000
index 0000000..ca54229
--- /dev/null
+++ b/src/Universal_Robots_ROS2_Driver
@@ -0,0 +1 @@
+Subproject commit ca5422994c410b3b8c512100144e758e1499705a
diff --git a/src/cartesian_controllers b/src/cartesian_controllers
new file mode 160000
index 0000000..5480fce
--- /dev/null
+++ b/src/cartesian_controllers
@@ -0,0 +1 @@
+Subproject commit 5480fcee3a3b1ff813810775b19c795725b0fcd6
diff --git a/src/robotiq_2f/robotiq_2f_description/config/robotiq_controllers.yaml b/src/robotiq_2f/robotiq_2f_description/config/robotiq_controllers.yaml
index 57c16cc..abf1af8 100644
--- a/src/robotiq_2f/robotiq_2f_description/config/robotiq_controllers.yaml
+++ b/src/robotiq_2f/robotiq_2f_description/config/robotiq_controllers.yaml
@@ -17,4 +17,4 @@ robotiq_gripper_controller:
 
 robotiq_activation_controller:
   ros__parameters:
-    default: true 
\ No newline at end of file
+    default: true
\ No newline at end of file