diff --git a/.gitmodules b/.gitmodules
index 57068f3..e69de29 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,19 +0,0 @@
-[submodule "src/Universal_Robots_ROS2_Description"]
-	path = src/Universal_Robots_ROS2_Description
-	url = https://github.com/UniversalRobots/Universal_Robots_ROS2_Description
-	branch = humble
-[submodule "src/serial"]
-	path = src/serial
-	url = https://github.com/tylerjw/serial.git
-	branch = ros2
-[submodule "src/Universal_Robots_ROS2_Driver"]
-	path = src/Universal_Robots_ROS2_Driver
-	url = https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git
-	branch = humble
-[submodule "src/ros2_robotiq_gripper"]
-	path = src/ros2_robotiq_gripper
-	url = https://github.com/PickNikRobotics/ros2_robotiq_gripper.git
-[submodule "src/cartesian_controllers"]
-	path = src/cartesian_controllers
-	url = https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers.git
-	branch = ros2
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
index 8541c93..94a25f7 100644
--- a/.idea/vcs.xml
+++ b/.idea/vcs.xml
@@ -2,9 +2,5 @@
 <project version="4">
   <component name="VcsDirectoryMappings">
     <mapping directory="$PROJECT_DIR$" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/src/Universal_Robots_ROS2_Description" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/src/Universal_Robots_ROS2_Driver" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/src/ros2_robotiq_gripper" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/src/serial" vcs="Git" />
   </component>
 </project>
\ No newline at end of file
diff --git a/UR_Robotiq.humble.repos b/UR_Robotiq.humble.repos
new file mode 100644
index 0000000..c1d3213
--- /dev/null
+++ b/UR_Robotiq.humble.repos
@@ -0,0 +1,21 @@
+repositories:
+  Universal_Robots_ROS2_Description:
+    type: git
+    url: https://github.com/NikoFeith/Universal_Robots_ROS2_Description.git
+    version: humble
+  Universal_Robots_ROS2_Driver:
+    type: git
+    url: https://github.com/NikoFeith/Universal_Robots_ROS2_Driver.git
+    version: humble
+  serial:
+    type: git
+    url: https://github.com/tylerjw/serial.git
+    version: ros2
+  ros2_robotiq_gripper:
+    type: git
+    url: https://github.com/NikoFeith/ros2_robotiq_gripper.git
+    version: main
+  cartesian_controllers:
+    type: git
+    url: https://github.com/NikoFeith/cartesian_controllers.git
+    version: main
\ No newline at end of file
diff --git a/src/Universal_Robots_ROS2_Description b/src/Universal_Robots_ROS2_Description
deleted file mode 160000
index 2e178fa..0000000
--- a/src/Universal_Robots_ROS2_Description
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 2e178fad2651b08c94324a8f96152cd1d78816dc
diff --git a/src/Universal_Robots_ROS2_Driver b/src/Universal_Robots_ROS2_Driver
deleted file mode 160000
index 8bc95d7..0000000
--- a/src/Universal_Robots_ROS2_Driver
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 8bc95d773f2476eeb18370a128b9f0c02ee98fd3
diff --git a/src/cartesian_controllers b/src/cartesian_controllers
deleted file mode 160000
index 4b5daab..0000000
--- a/src/cartesian_controllers
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 4b5daabc8ced16f264c9a638afeaaeeda5d8dd04
diff --git a/src/ros2_robotiq_gripper b/src/ros2_robotiq_gripper
deleted file mode 160000
index b6136bd..0000000
--- a/src/ros2_robotiq_gripper
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit b6136bdc866a929bfb096890ca61dde1335ffd30
diff --git a/src/serial b/src/serial
deleted file mode 160000
index d8d1606..0000000
--- a/src/serial
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit d8d160678aa0b31cdf467c052b954fa287cc6cdf