diff --git a/README.md b/README.md
index 00ae304..a8249e7 100644
--- a/README.md
+++ b/README.md
@@ -4,7 +4,7 @@
 [![arXiv](https://img.shields.io/badge/arXiv-2403.16880-b31b1b?logo=arxiv&logoColor=white)](https://arxiv.org/abs/2403.16880)
 [![video](https://img.shields.io/badge/video-YouTube-FF0000?logo=youtube&logoColor=white)](https://youtu.be/F1NCSWK26I8)
 [![githubpage](https://img.shields.io/badge/Website-DHPMapping-blue)](https://hutslib.github.io/DHP-Mapping/)
-[![poster](https://img.shields.io/badge/IROS2024|Poster-6495ed?style=flat&logo=Shotcut&logoColor=wihte)](https://hkustconnect-my.sharepoint.com/:b:/g/personal/thuaj_connect_ust_hk/ESZvkPJNLNhJgKkzg-YgRg0BE7kvqr6TG9x7gPKziITIGQ?e=JkErLB) 
+[![poster](https://img.shields.io/badge/IROS2024|Poster-6495ed?style=flat&logo=Shotcut&logoColor=wihte)](https://hkustconnect-my.sharepoint.com/:b:/g/personal/thuaj_connect_ust_hk/ESZvkPJNLNhJgKkzg-YgRg0BE7kvqr6TG9x7gPKziITIGQ?e=JkErLB)
 ---
 📜 **26/03/2024** arXiv version [paper](https://arxiv.org/abs/2403.16880)
 
@@ -26,7 +26,7 @@ mkdir -p DHP_ws/src
 cd DHP_ws/src
 git clone git@github.com:hutslib/DHP-mapping.git
 wstool init . ./DHP_Mapping/panoptic_mapping_ssh.rosinstall    # SSH
-cd ./DHP_Mapping
+cd ..
 catkin init
 catkin config --extend /opt/ros/noetic
 catkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
diff --git a/panoptic_mapping_https.rosinstall b/panoptic_mapping_https.rosinstall
index 93faba3..8305063 100644
--- a/panoptic_mapping_https.rosinstall
+++ b/panoptic_mapping_https.rosinstall
@@ -37,10 +37,9 @@
     uri: https://github.com/CogRob/catkin_grpc.git
 
 # Package Dependencies. Notice that voxblox requires a special branch.
-- git:
-    local-name: voxblox
-    uri: https://github.com/ethz-asl/voxblox.git
-    version: 'devel/panoptic_mapping'
 - git:
     local-name: cblox
     uri: https://github.com/ethz-asl/cblox.git
+- git:
+    local-name: yaml_cpp_catkin
+    uri: https://github.com/ethz-asl/yaml_cpp_catkin.git
diff --git a/panoptic_mapping_ssh.rosinstall b/panoptic_mapping_ssh.rosinstall
index f051f90..7f80739 100644
--- a/panoptic_mapping_ssh.rosinstall
+++ b/panoptic_mapping_ssh.rosinstall
@@ -37,10 +37,9 @@
     uri: git@github.com:CogRob/catkin_grpc.git
 
 # Package Dependencies. Notice that voxblox requires a special branch.
-- git:
-    local-name: voxblox
-    uri: git@github.com:ethz-asl/voxblox.git
-    version: 'devel/panoptic_mapping'
 - git:
     local-name: cblox
     uri: git@github.com:ethz-asl/cblox.git
+- git:
+    local-name: yaml_cpp_catkin
+    uri: git@github.com:ethz-asl/yaml_cpp_catkin.git