diff --git a/.gitmodules b/.gitmodules
index e41732c..159085c 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,12 +1,12 @@
 [submodule "vesc"]
 	path = vesc
-	url = https://github.com/f1tenth/vesc.git
+	url = git@github.com:NVIDIA-ISAAC-ROS/vesc.git
 	branch = ros2
 [submodule "ackermann_mux"]
 	path = ackermann_mux
-	url = https://github.com/f1tenth/ackermann_mux.git
+	url = git@github.com:NVIDIA-ISAAC-ROS/ackermann_mux.git
 	branch = foxy-devel
 [submodule "teleop_tools"]
 	path = teleop_tools
-	url = https://github.com/f1tenth/teleop_tools.git
+	url = git@github.com:NVIDIA-ISAAC-ROS/teleop_tools.git
 	branch = foxy-devel
diff --git a/ackermann_mux b/ackermann_mux
index 6fcf96f..b3c0b08 160000
--- a/ackermann_mux
+++ b/ackermann_mux
@@ -1 +1 @@
-Subproject commit 6fcf96ffeccfd2024fcdb2c420e9a884113372f9
+Subproject commit b3c0b083ac03aa8c648537d7e4d22608fcd3440c
diff --git a/f1tenth_stack/config/joy_teleop.yaml b/f1tenth_stack/config/joy_teleop.yaml
index 87e148e..349cc4d 100755
--- a/f1tenth_stack/config/joy_teleop.yaml
+++ b/f1tenth_stack/config/joy_teleop.yaml
@@ -1,46 +1,45 @@
-joy:
+joy_linux:
   ros__parameters:
-    device_name: /dev/input/joypad-f710
+    dev: /dev/input/js0
     deadzone: 0.01
     autorepeat_rate: 20.0
-    coalesce_interval: 0.01
 
 joy_teleop:
   ros__parameters:
-    default:
-      type: topic
-      interface_type: ackermann_msgs/msg/AckermannDriveStamped
-      topic_name: teleop
-      axis_mappings:
-        drive-speed:
-          axis: 1
-          scale: 0.0
-          offset: 0.0
-        drive-steering_angle:
-          axis: 2
-          scale: 0.0
-          offset: 0.0
+    # default:
+    #   type: topic
+    #   interface_type: ackermann_msgs/msg/AckermannDriveStamped
+    #   topic_name: teleop
+    #   axis_mappings:
+    #     drive-speed:
+    #       axis: 1
+    #       scale: 0.0
+    #       offset: 0.0
+    #     drive-steering_angle:
+    #       axis: 2
+    #       scale: 0.0
+    #       offset: 0.0
 
     human_control:
       type: topic
       interface_type: ackermann_msgs/msg/AckermannDriveStamped
-      topic_name: teleop
-      deadman_buttons: [4]
+      topic_name: ackermann_cmd
+      deadman_buttons: [6]
       axis_mappings:
         drive-speed:
           axis: 1
-          scale: 5.0
+          scale: 1.0
           offset: 0.0
         drive-steering_angle:
-          axis: 2
+          axis: 3
           scale: 0.34
           offset: 0.0
 
-    autonomous_control:
-      type: topic
-      interface_type: std_msgs/msg/Int8
-      topic_name: /dev/null
-      deadman_buttons: [5]
-      message_value:
-        data:
-          value: 0
\ No newline at end of file
+#     autonomous_control:
+#       type: topic
+#       interface_type: std_msgs/msg/Int8
+#       topic_name: /dev/null
+#       deadman_buttons: [5]
+#       message_value:
+#         data:
+#           value: 0
\ No newline at end of file
diff --git a/f1tenth_stack/config/vesc.yaml b/f1tenth_stack/config/vesc.yaml
index 5531a64..e5f084f 100755
--- a/f1tenth_stack/config/vesc.yaml
+++ b/f1tenth_stack/config/vesc.yaml
@@ -9,7 +9,7 @@
     steering_angle_to_servo_gain: -1.2135
     steering_angle_to_servo_offset: 0.5304
 
-    port: /dev/sensors/vesc
+    port: /dev/ttyACM0
     duty_cycle_min: 0.0
     duty_cycle_max: 0.0
     current_min: 0.0
diff --git a/f1tenth_stack/launch/bringup_launch.py b/f1tenth_stack/launch/bringup_launch.py
index 239b731..0ac2976 100755
--- a/f1tenth_stack/launch/bringup_launch.py
+++ b/f1tenth_stack/launch/bringup_launch.py
@@ -72,9 +72,9 @@ def generate_launch_description():
     ld = LaunchDescription([joy_la, vesc_la, sensors_la, mux_la])
 
     joy_node = Node(
-        package='joy',
-        executable='joy_node',
-        name='joy',
+        package='joy_linux',
+        executable='joy_linux_node',
+        name='joy_linux_node',
         parameters=[LaunchConfiguration('joy_config')]
     )
     joy_teleop_node = Node(
@@ -107,12 +107,12 @@ def generate_launch_description():
         name='throttle_interpolator',
         parameters=[LaunchConfiguration('vesc_config')]
     )
-    urg_node = Node(
-        package='urg_node',
-        executable='urg_node_driver',
-        name='urg_node',
-        parameters=[LaunchConfiguration('sensors_config')]
-    )
+    # urg_node = Node(
+    #     package='urg_node',
+    #     executable='urg_node_driver',
+    #     name='urg_node',
+    #     parameters=[LaunchConfiguration('sensors_config')]
+    # )
     ackermann_mux_node = Node(
         package='ackermann_mux',
         executable='ackermann_mux',
@@ -131,11 +131,11 @@ def generate_launch_description():
     ld.add_action(joy_node)
     ld.add_action(joy_teleop_node)
     ld.add_action(ackermann_to_vesc_node)
-    ld.add_action(vesc_to_odom_node)
+    # ld.add_action(vesc_to_odom_node)
     ld.add_action(vesc_driver_node)
     # ld.add_action(throttle_interpolator_node)
-    ld.add_action(urg_node)
-    ld.add_action(ackermann_mux_node)
-    ld.add_action(static_tf_node)
+    # ld.add_action(urg_node)
+    # ld.add_action(ackermann_mux_node)
+    # ld.add_action(static_tf_node)
 
     return ld
\ No newline at end of file
diff --git a/teleop_tools b/teleop_tools
index d6fd091..4337558 160000
--- a/teleop_tools
+++ b/teleop_tools
@@ -1 +1 @@
-Subproject commit d6fd09179347dabb82edcafb04444fb2581c544e
+Subproject commit 4337558fd38e0e1a5c08bdd3c7b4b1a9454a74a9
diff --git a/vesc b/vesc
index 1952e79..153998d 160000
--- a/vesc
+++ b/vesc
@@ -1 +1 @@
-Subproject commit 1952e799110f5c4eed82c68a6172bfcafd9998ac
+Subproject commit 153998df8545fe1781b975df88e411b4e71d4bfe