diff --git a/.gitignore b/.gitignore
index 3141413bccac6c9e53c3bc38eae381bc7790c91e..b57aa44f601c5f20be9a8a2626386a59c7b5ab14 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
+.idea
 cmake-build-debug
 .catkin_tools/
 .catkin_workspace
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 2630260f4bd59677c8b12d6a063ff277ab43e8f5..37dc5876b284dcc6c861f68bc88a27d6a1bf016c 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -12,7 +12,7 @@ build-ws:
     - apt-get install -y ros-melodic-libfranka python-catkin-tools libeigen3-dev 
     - echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
     - source ~/.bashrc
-    - rosdep install -y --from-paths .
+    - rosdep install -y -i --from-paths .
     - catkin build
   tags:
   - highmem
diff --git a/.gitmodules b/.gitmodules
index e74ad40527cc7eb8b3084f91260f06edc1851950..7e5e17291fcbb273ae1e74605e29fdb048f89514 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -17,3 +17,9 @@
 	path = src/simulation_util
 	url = ../simulation_util.git
 	branch = master
+[submodule "src/gazebo-pkgs"]
+	path = src/gazebo-pkgs
+	url = https://github.com/JenniferBuehler/gazebo-pkgs.git
+[submodule "src/general-message-pkgs"]
+	path = src/general-message-pkgs
+	url = https://github.com/JenniferBuehler/general-message-pkgs.git
diff --git a/src/franka_description b/src/franka_description
index 4356d31a7cd02c03662f9e4b453f100c646774c6..a651f4fee48571a0378362440a8bdc75b00479e3 160000
--- a/src/franka_description
+++ b/src/franka_description
@@ -1 +1 @@
-Subproject commit 4356d31a7cd02c03662f9e4b453f100c646774c6
+Subproject commit a651f4fee48571a0378362440a8bdc75b00479e3
diff --git a/src/gazebo-pkgs b/src/gazebo-pkgs
new file mode 160000
index 0000000000000000000000000000000000000000..baf0f033475c3a592efb0862079f3ff8392cadf6
--- /dev/null
+++ b/src/gazebo-pkgs
@@ -0,0 +1 @@
+Subproject commit baf0f033475c3a592efb0862079f3ff8392cadf6
diff --git a/src/general-message-pkgs b/src/general-message-pkgs
new file mode 160000
index 0000000000000000000000000000000000000000..f0c7a0cc811187cca8e928bc7c5906e463c24945
--- /dev/null
+++ b/src/general-message-pkgs
@@ -0,0 +1 @@
+Subproject commit f0c7a0cc811187cca8e928bc7c5906e463c24945
diff --git a/src/panda_simulation b/src/panda_simulation
index cabb18c9dec6d38450090e2a322acf42115bb655..7d6668f7391901e9f1f0039c20733eec731fc68f 160000
--- a/src/panda_simulation
+++ b/src/panda_simulation
@@ -1 +1 @@
-Subproject commit cabb18c9dec6d38450090e2a322acf42115bb655
+Subproject commit 7d6668f7391901e9f1f0039c20733eec731fc68f
diff --git a/src/sample_applications b/src/sample_applications
index 7ef30876c7cadbfac8d0c4b53f5dee84d53bb33e..0834bc9cf26b14ca036671f5414116842b0c601f 160000
--- a/src/sample_applications
+++ b/src/sample_applications
@@ -1 +1 @@
-Subproject commit 7ef30876c7cadbfac8d0c4b53f5dee84d53bb33e
+Subproject commit 0834bc9cf26b14ca036671f5414116842b0c601f
diff --git a/src/simulation_util b/src/simulation_util
index 1bb3837a9713b4124114bc4f58b9c2ab51d11592..815a248170b589b82d736278a65d11bfd1ca2d3e 160000
--- a/src/simulation_util
+++ b/src/simulation_util
@@ -1 +1 @@
-Subproject commit 1bb3837a9713b4124114bc4f58b9c2ab51d11592
+Subproject commit 815a248170b589b82d736278a65d11bfd1ca2d3e