diff --git a/.gitmodules b/.gitmodules
index 66cfb0c..23b0e9e 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,10 +1,6 @@
 [submodule "src/ros_edf"]
 	path = src/ros_edf
 	url = git@git.niklashalle.net:niklas/ROS-Dynamic-Executor.git
-[submodule "src/tools/tracetools_analysis"]
-	path = src/tracetools_analysis
-	url = git@git.niklashalle.net:niklas/tracetools_analysis.git
-	branch = foxy
 [submodule "src/rcl"]
 	path = src/rcl
 	url = git@git.niklashalle.net:niklas/rcl.git
diff --git a/src/cyclonedds b/src/cyclonedds
index 412d818..1418190 160000
--- a/src/cyclonedds
+++ b/src/cyclonedds
@@ -1 +1 @@
-Subproject commit 412d818269b6e8e5b7eae32f7e245935bd30f4a7
+Subproject commit 14181900b7bfd89ced1dcc5f33cab50580cf24da
diff --git a/src/rcl b/src/rcl
index 5da7e19..df1f49f 160000
--- a/src/rcl
+++ b/src/rcl
@@ -1 +1 @@
-Subproject commit 5da7e193371c25cf1ebd2489978768327c382c04
+Subproject commit df1f49f299242430c1e4949859625dff2e5ede60
diff --git a/src/rclcpp b/src/rclcpp
index e57a3a3..c0d7ba5 160000
--- a/src/rclcpp
+++ b/src/rclcpp
@@ -1 +1 @@
-Subproject commit e57a3a393e46f0c0e0e5cc64090ac34e5cef32bc
+Subproject commit c0d7ba53666616776af4190844d05b677d411c9a
diff --git a/src/rmw_cyclonedds b/src/rmw_cyclonedds
index 79e0792..90d9bc7 160000
--- a/src/rmw_cyclonedds
+++ b/src/rmw_cyclonedds
@@ -1 +1 @@
-Subproject commit 79e07924d66b205838d28da4c9df6a941df6795c
+Subproject commit 90d9bc72965fec0f2e3bbe495a6f946d4c31a7d6
diff --git a/src/ros2_tracing b/src/ros2_tracing
index e8637c9..0d51819 160000
--- a/src/ros2_tracing
+++ b/src/ros2_tracing
@@ -1 +1 @@
-Subproject commit e8637c9043b9bc396135dbfa7068143bfa8a879c
+Subproject commit 0d51819f5f54d586fb614ce5e1dd9fda96b87675
diff --git a/src/tracetools_analysis b/src/tracetools_analysis
deleted file mode 160000
index e18ddb6..0000000
--- a/src/tracetools_analysis
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit e18ddb62d580e6f56dc4e232370a2c93beaedb7c