diff --git a/pb_omni_pid_pursuit_controller b/pb_omni_pid_pursuit_controller
index f810425..9747d89 160000
--- a/pb_omni_pid_pursuit_controller
+++ b/pb_omni_pid_pursuit_controller
@@ -1 +1 @@
-Subproject commit f8104254bf3b90779a2c1d7018627237ea18c0ea
+Subproject commit 9747d89e1e3be23e491bc669ec829ae40ba1d1fd
diff --git a/small_gicp_relocalization b/small_gicp_relocalization
index ff31de7..fb57a13 160000
--- a/small_gicp_relocalization
+++ b/small_gicp_relocalization
@@ -1 +1 @@
-Subproject commit ff31de701780f7e3da693f98de520bcbf3cd074d
+Subproject commit fb57a13042534cc8b71aedae2dd6115cd4ebea76