diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
index af7dc14..97d461f 100644
--- a/.github/workflows/ros-ci.yml
+++ b/.github/workflows/ros-ci.yml
@@ -21,11 +21,13 @@ jobs:
     steps:
     # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
     - uses: actions/checkout@v2
-    - name: Install dependencies
-      run: sudo apt-get update && sudo apt-get install -y libasio-dev
+    # - name: Install dependencies
+    #   run: sudo apt-get update && sudo apt-get install -y libasio-dev
     - name: Create catkin workspace
       run: mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
     - name: Copy code to catkin workspace
       run: cd /catkin_ws/src && cp -r $GITHUB_WORKSPACE .
+    - name: Update git submodule
+      run: cd /catkin_ws/src/$GITHUB_WORKSPACE && git submodule update --init --recursive
     - name: Run catkin_make
       run: cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
diff --git a/.github/workflows/standalone-ci.yml b/.github/workflows/standalone-ci.yml
index 4f1aa4c..8d1d63d 100644
--- a/.github/workflows/standalone-ci.yml
+++ b/.github/workflows/standalone-ci.yml
@@ -13,10 +13,12 @@ jobs:
 
     steps:
     - uses: actions/checkout@v2
-    - name: Install dependencies
-      run: sudo apt-get install -y build-essential cmake libasio-dev
+    # - name: Install dependencies
+    #   run: sudo apt-get install -y build-essential cmake libasio-dev
+    - name: Update git submodule
+      run: git submodule update --init --recursive
     - name: Build and pack
-      run: pwd && ls && mkdir build && cd build && cmake -DBUILD_TESTS=ON .. && cmake --build . && cpack
+      run: mkdir build && cd build && cmake -DBUILD_TESTS=ON .. && cmake --build . && cpack
     - name: Run tests
       run: ./build/bin/gtest_all
     
diff --git a/README.md b/README.md
index adf79e8..0621c18 100755
--- a/README.md
+++ b/README.md
@@ -68,7 +68,7 @@ $ sudo apt-get install cmake
 
 ```
 $ cd <your-catkin-ws>/src
-$ git clone https://github.com/westonrobot/wrp_sdk.git
+$ git clone --recursive https://github.com/westonrobot/ugv_sdk.git
 $ cd ..
 $ catkin_make
 ```
@@ -84,7 +84,8 @@ $ sudo apt install libncurses5-dev
 Configure and build
 
 ```
-$ cd wrp_sdk 
+$ git clone --recursive https://github.com/westonrobot/ugv_sdk.git
+$ cd ugv_sdk 
 $ mkdir build
 $ cd build
 $ cmake ..