diff --git a/CMakeLists.txt b/CMakeLists.txt
index 46a72d0..b362b9c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,6 +22,14 @@ add_subdirectory(visualizers/rviz_interface)
 message(STATUS "Generating ROS2 messages from IDL files...")
 set (DLS2_ROS2_INTERFACE_SRC_DIR ${CMAKE_CURRENT_SOURCE_DIR}/dls2_ros2_interface/ros2_ws/src)
 set (DLS2_ROS2_INTERFACE_DIR ${DLS2_ROS2_INTERFACE_SRC_DIR}/dls2_interface)
+
+
+# remove .msg files from the ROS2 interface src directory to avoid conflicts with the newly generated ones
+file(GLOB DLS_MSG_FILES CONFIGURE_DEPENDS "${DLS2_ROS2_INTERFACE_DIR}/msg/*.msg")
+foreach(msg_file IN LISTS DLS_MSG_FILES)
+  file(REMOVE ${msg_file})
+endforeach()
+
 file(GLOB DLS_IDL_FILES CONFIGURE_DEPENDS "${DLS_MESSAGE_FOLDER}/idls/*.idl")
 foreach(idl_file IN LISTS DLS_IDL_FILES)
   execute_process(
diff --git a/README.md b/README.md
index 7a04fa5..d983626 100644
--- a/README.md
+++ b/README.md
@@ -10,7 +10,7 @@ This project is currently in **pre-release** and under active development.
 
 # Repository Structure
 
-| Component | Path | Description |
+| Component | Path | Description | 
 |-----------|------|-------------|
 | **DLS2 Framework** | `dls2/` | Core control middleware. Contains modules for control, state estimation, messaging (DDS/IDL), plugins, state machines, signal handling, logging, and utilities. |
 | **Robotlib** | `robotlib/` | Generic C++ robot abstraction layer. Provides a common API (kinematics, dynamics, Jacobians, data structures) that controllers target, independent of any specific robot morphology. Uses a factory pattern with `dlopen` for runtime-loadable robot libraries. |
diff --git a/dls2_msgs b/dls2_msgs
index a7adbf8..9cfecb3 160000
--- a/dls2_msgs
+++ b/dls2_msgs
@@ -1 +1 @@
-Subproject commit a7adbf8b5db41c484d6189b058a843f5bc7e36f6
+Subproject commit 9cfecb3835f6fcebe84909299e6f10b565a24409
diff --git a/dls2_ros2_interface b/dls2_ros2_interface
index 4451f4d..f313538 160000
--- a/dls2_ros2_interface
+++ b/dls2_ros2_interface
@@ -1 +1 @@
-Subproject commit 4451f4d59a2db6b3e7a901f668f4dd10b5e7aa1a
+Subproject commit f313538afe5a82de7100e2b800d0b6dbeb5e829d
diff --git a/visualizers/rviz_interface/CMakeLists.txt b/visualizers/rviz_interface/CMakeLists.txt
index ff36ab7..7db8b22 100644
--- a/visualizers/rviz_interface/CMakeLists.txt
+++ b/visualizers/rviz_interface/CMakeLists.txt
@@ -10,14 +10,6 @@ if (NOT TARGET dls_messages)
 	find_package(dls_messages REQUIRED)
 endif()
 
-
-if(DEFINED DLS_MESSAGE_FOLDER)
-	list(APPEND CMAKE_MODULE_PATH "${DLS_MESSAGE_FOLDER}/cmake")
-else()
-	list(APPEND CMAKE_MODULE_PATH "/usr/include/dls_messages/cmake")
-endif()
-include(generate_msg_library)
-
 # Set RELEASE as the default build type
 if(NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE Release CACHE STRING "Build type" FORCE)