diff --git a/initialize.py b/initialize.py
index 95de0cb..5d1048b 100644
--- a/initialize.py
+++ b/initialize.py
@@ -6,20 +6,49 @@ class GitCloner:
     def __init__(self, directory):
         self.directory = directory
 
-    def clone_repo(self, repo_url, branch='main'):
+    def clone_or_update_repo(self, repo_url, branch='main'):
         repo_name = repo_url.split('/')[-1].split('.')[0]
         repo_path = os.path.join(self.directory, repo_name)
 
         if os.path.exists(repo_path):
-            print(f"Repository '{repo_name}' already exists. Skipping cloning.")
-            return
+            print(f"Repository '{repo_name}' already exists. Updating...")
+            try:
+                # Change working directory to the repository path
+                os.chdir(repo_path)
 
-        command = ['git', 'clone', '--branch', branch, repo_url, repo_path]
+                # Pull the latest changes from the repository
+                subprocess.check_output(['git', 'pull'])
+
+                print(f"Successfully updated repository '{repo_name}'.")
+            except subprocess.CalledProcessError as e:
+                print(f"Failed to update repository '{repo_name}': {e}")
+                return
+        else:
+            try:
+                # Clone the repository
+                subprocess.check_output(['git', 'clone', '--branch', branch, repo_url, repo_path])
+
+                print(f"Successfully cloned repository '{repo_name}' on branch '{branch}'.")
+            except subprocess.CalledProcessError as e:
+                print(f"Failed to clone repository '{repo_name}' on branch '{branch}': {e}")
+                return
+
+        # Build the repository using colcon
         try:
-            subprocess.check_output(command)
-            print(f"Successfully cloned repository '{repo_name}' on branch '{branch}'.")
+            # Change working directory to the base directory
+            os.chdir(self.directory)
+
+            # Execute colcon build
+            subprocess.check_output(['colcon', 'build'])
+
+            print("Build completed successfully.")
+
+            # Execute "source install/setup.bash"
+            subprocess.check_call(['source', 'install/setup.bash'], shell=True)
+
+            print("Setup file sourced successfully.")
         except subprocess.CalledProcessError as e:
-            print(f"Failed to clone repository '{repo_name}' on branch '{branch}': {e}")
+            print(f"Failed to build or source setup file: {e}")
 
 
 # Usage example
@@ -29,8 +58,8 @@ cloner = GitCloner('./src')
 with open('repos.yaml', 'r') as file:
     repos_data = yaml.safe_load(file)
 
-# Clone repositories
+# Clone or update repositories and perform build and setup
 for repo_data in repos_data['repositories']:
     repo_url = repo_data['url']
     branch = repo_data.get('branch', 'main')
-    cloner.clone_repo(repo_url, branch)
+    cloner.clone_or_update_repo(repo_url, branch)