diff --git a/.gitmodules b/.gitmodules
index 24b487d..af4163c 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,15 +1,15 @@
 [submodule "dls2"]
 	path = dls2
-	url = git@github.com:iit-DLSLab/dls2.git
+	url = https://github.com/iit-DLSLab/dls2.git
 [submodule "robotlib"]
 	path = robotlib
-	url = git@github.com:iit-DLSLab/robotlib.git
+	url = https://github.com/iit-DLSLab/robotlib.git
 [submodule "dls2_ros2_interface"]
 	path = dls2_ros2_interface
-	url = git@github.com:iit-DLSLab/dls2_ros2_interface.git
+	url = https://github.com/iit-DLSLab/dls2_ros2_interface.git
 [submodule "dls2_msgs"]
 	path = dls2_msgs
-	url = git@github.com:iit-DLSLab/dls2_msgs.git
+	url = https://github.com/iit-DLSLab/dls2_msgs.git
 [submodule "pinocchio-gluecode"]
 	path = pinocchio-gluecode
-	url = git@github.com:iit-DLSLab/pinocchio-gluecode.git
+	url = https://github.com/iit-DLSLab/pinocchio-gluecode.git
\ No newline at end of file
diff --git a/README.md b/README.md
index aca8819..7a04fa5 100644
--- a/README.md
+++ b/README.md
@@ -39,7 +39,7 @@ docker pull ghcr.io/iit-dlslab/dls2-dev:latest
 ```bash
 mkdir dls_ws
 cd dls_ws
-git clone --init --recursive https://github.com/iit-DLSLab/dls2-barebone.git
+git clone --recursive https://github.com/iit-DLSLab/dls2-barebone.git
 ```
 ## Open docker image
 ```bash
diff --git a/dls2 b/dls2
index 5b873e4..a7cfb1d 160000
--- a/dls2
+++ b/dls2
@@ -1 +1 @@
-Subproject commit 5b873e4bd70015147bd103db0b4858b72ee3a908
+Subproject commit a7cfb1d0aa0dd33ce5769473a3c8037e883f0bc2