diff --git a/.gitmodules b/.gitmodules
index 757d3e70e1d7b66a3a5e1b215ecfe0fe6203d2ab..97af90c30fca339cf53797ad41fef1921d4652ec 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -13,27 +13,12 @@
 [submodule "robotic-controller/src/panda_moveit_config"]
 	path = robotic-controller/src/panda_moveit_config
 	url = ../packages/panda_moveit_config.git
-[submodule "robotic-controller/src/panda_simulation"]
-	path = robotic-controller/src/panda_simulation
-	url = ../packages/panda_simulation.git
-[submodule "robotic-controller/src/simulation_util"]
-	path = robotic-controller/src/simulation_util
-	url = ../packages/simulation_util.git
-[submodule "robotic-controller/src/gazebo_pkgs"]
-	path = robotic-controller/src/gazebo_pkgs
-	url = ../packages/gazebo-pkgs.git
-[submodule "robotic-controller/src/general_message_packages"]
-	path = robotic-controller/src/general_message_packages
-	url = https://github.com/JenniferBuehler/general-message-pkgs.git
 [submodule "robotic-controller/src/panda_grasping"]
 	path = robotic-controller/src/panda_grasping
 	url = ../packages/panda_grasping.git
 [submodule "robotic-controller/src/ccf"]
 	path = robotic-controller/src/ccf
 	url = ../ccf/ccf.git
-[submodule "robotic-controller/src/ccf_base_application"]
-	path = robotic-controller/src/ccf_base_application
-	url = ../ccf/ccf_base_application.git
 [submodule "robotic-controller/src/ccf_immersive_sorting"]
 	path = robotic-controller/src/ccf_immersive_sorting
 	url = ../ccf/ccf_immersive_sorting.git
diff --git a/robotic-controller/src/ccf_base_application b/robotic-controller/src/ccf_base_application
deleted file mode 160000
index 601928ea999b9e4a0c69dd146f0f06dda636cd96..0000000000000000000000000000000000000000
--- a/robotic-controller/src/ccf_base_application
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 601928ea999b9e4a0c69dd146f0f06dda636cd96
diff --git a/robotic-controller/src/gazebo_pkgs b/robotic-controller/src/gazebo_pkgs
deleted file mode 160000
index 730d0ade150aedde1164388bdaf3d628527ad316..0000000000000000000000000000000000000000
--- a/robotic-controller/src/gazebo_pkgs
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 730d0ade150aedde1164388bdaf3d628527ad316
diff --git a/robotic-controller/src/general_message_packages b/robotic-controller/src/general_message_packages
deleted file mode 160000
index f0c7a0cc811187cca8e928bc7c5906e463c24945..0000000000000000000000000000000000000000
--- a/robotic-controller/src/general_message_packages
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit f0c7a0cc811187cca8e928bc7c5906e463c24945
diff --git a/robotic-controller/src/panda_simulation b/robotic-controller/src/panda_simulation
deleted file mode 160000
index ec9acbf9eba9e736d030d239c3698b0e33825cc1..0000000000000000000000000000000000000000
--- a/robotic-controller/src/panda_simulation
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit ec9acbf9eba9e736d030d239c3698b0e33825cc1
diff --git a/robotic-controller/src/simulation_util b/robotic-controller/src/simulation_util
deleted file mode 160000
index ecc8e6e06c36c3674cd9851987499cbbaa31747c..0000000000000000000000000000000000000000
--- a/robotic-controller/src/simulation_util
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit ecc8e6e06c36c3674cd9851987499cbbaa31747c