diff --git a/.gitmodules b/.gitmodules
index 603cd0970c0d871ca5194f03d1f075fe482b2552..b14b28ed392e2a9fd7a56ead513fa87158e0830f 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,21 +1,21 @@
 [submodule "src/franka_description"]
 	path = src/franka_description
-	url = ../franka_description.git
+	url = https://git-st.inf.tu-dresden.de/ceti/ros/franka_description.git
 [submodule "src/panda_moveit_config"]
 	path = src/panda_moveit_config
-	url = ../panda_moveit_config.git
+	url = https://git-st.inf.tu-dresden.de/ceti/ros/panda_moveit_config.git
 [submodule "src/panda_simulation"]
 	path = src/panda_simulation
-	url = ../panda_simulation.git
+	url = https://git-st.inf.tu-dresden.de/ceti/ros/panda_simulation.git
 [submodule "src/sample_applications"]
 	path = src/sample_applications
-	url = ../sample_applications.git
+	url = ../ceti/ros/sample_applications.git
 [submodule "src/panda_teaching"]
 	path = src/panda_teaching
-	url = ../panda_teaching.git
+	url = https://git-st.inf.tu-dresden.de/ceti/ros/panda_teaching.git
 [submodule "src/simulation_util"]
 	path = src/simulation_util
-	url = ../simulation_util.git
+	url = https://git-st.inf.tu-dresden.de/ceti/ros/simulation_util.git
 	branch = master
 [submodule "src/gazebo-pkgs"]
 	path = src/gazebo-pkgs
@@ -25,7 +25,7 @@
 	url = https://github.com/JenniferBuehler/general-message-pkgs.git
 [submodule "src/tutorial_ros_hello_world"]
 	path = src/tutorial_ros_hello_world
-	url = ../ceti-summer-school/tutorial_ros_hello_world.git
+	url = https://git-st.inf.tu-dresden.de/ceti/ros/ceti-summer-school/tutorial_ros_hello_world.git
 [submodule "src/tutorial_ros_pub_sub"]
 	path = src/tutorial_ros_pub_sub
-	url = ../ceti-summer-school/tutorial_ros_pub_sub.git
+	url = https://git-st.inf.tu-dresden.de/ceti/ros/ceti-summer-school/tutorial_ros_pub_sub.git
diff --git a/src/franka_description b/src/franka_description
deleted file mode 160000
index a651f4fee48571a0378362440a8bdc75b00479e3..0000000000000000000000000000000000000000
--- a/src/franka_description
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit a651f4fee48571a0378362440a8bdc75b00479e3
diff --git a/src/gazebo-pkgs b/src/gazebo-pkgs
deleted file mode 160000
index baf0f033475c3a592efb0862079f3ff8392cadf6..0000000000000000000000000000000000000000
--- a/src/gazebo-pkgs
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit baf0f033475c3a592efb0862079f3ff8392cadf6
diff --git a/src/general-message-pkgs b/src/general-message-pkgs
deleted file mode 160000
index f0c7a0cc811187cca8e928bc7c5906e463c24945..0000000000000000000000000000000000000000
--- a/src/general-message-pkgs
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit f0c7a0cc811187cca8e928bc7c5906e463c24945
diff --git a/src/panda_moveit_config b/src/panda_moveit_config
deleted file mode 160000
index e090da261367d86bd893353693dfe79f855d0ddf..0000000000000000000000000000000000000000
--- a/src/panda_moveit_config
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit e090da261367d86bd893353693dfe79f855d0ddf
diff --git a/src/panda_simulation b/src/panda_simulation
deleted file mode 160000
index 7d6668f7391901e9f1f0039c20733eec731fc68f..0000000000000000000000000000000000000000
--- a/src/panda_simulation
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 7d6668f7391901e9f1f0039c20733eec731fc68f
diff --git a/src/panda_teaching b/src/panda_teaching
deleted file mode 160000
index ac09bc488b23cf4655b03e77fe2c19e0645c4983..0000000000000000000000000000000000000000
--- a/src/panda_teaching
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit ac09bc488b23cf4655b03e77fe2c19e0645c4983
diff --git a/src/sample_applications b/src/sample_applications
deleted file mode 160000
index 7f27b12305dd4abaf36175d1395642d610370668..0000000000000000000000000000000000000000
--- a/src/sample_applications
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 7f27b12305dd4abaf36175d1395642d610370668
diff --git a/src/simulation_util b/src/simulation_util
deleted file mode 160000
index 2b1b5011a2633d20721e61c5fea4bb2dd5fbbaa3..0000000000000000000000000000000000000000
--- a/src/simulation_util
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 2b1b5011a2633d20721e61c5fea4bb2dd5fbbaa3
diff --git a/src/tutorial_ros_hello_world b/src/tutorial_ros_hello_world
deleted file mode 160000
index e5f726a04d5d69db9b955da8a89845e536bb0895..0000000000000000000000000000000000000000
--- a/src/tutorial_ros_hello_world
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit e5f726a04d5d69db9b955da8a89845e536bb0895
diff --git a/src/tutorial_ros_pub_sub b/src/tutorial_ros_pub_sub
deleted file mode 160000
index 3b720a2682015eeb769643f89641a54c5169a572..0000000000000000000000000000000000000000
--- a/src/tutorial_ros_pub_sub
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 3b720a2682015eeb769643f89641a54c5169a572