diff --git a/.gitmodules b/.gitmodules
index 4a4f6c46..cfd7a699 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -12,7 +12,7 @@
 [submodule "utils/reasoning/graph_reasoning"]
 	path = utils/reasoning/graph_reasoning
 	url = https://github.com/snt-arg/graph_reasoning.git
-	branch = complete_gnn_architecture
+	branch = develop
 [submodule "utils/reasoning/graph_wrapper"]
 	path = utils/reasoning/graph_wrapper
 	url = https://github.com/snt-arg/graph_wrapper.git
@@ -20,7 +20,7 @@
 [submodule "utils/reasoning/graph_datasets"]
 	path = utils/reasoning/graph_datasets
 	url = https://github.com/snt-arg/graph_datasets.git
-	branch = graph_reasoning
+	branch = develop
 [submodule "utils/reasoning/graph_matching"]
 	path = utils/reasoning/graph_matching
 	url = https://github.com/snt-arg/graph_matching.git
diff --git a/s_graphs/package.xml b/s_graphs/package.xml
index 066e2285..fdb82cfb 100644
--- a/s_graphs/package.xml
+++ b/s_graphs/package.xml
@@ -11,50 +11,30 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
-  <build_depend>ndt_omp</build_depend>
-  <build_depend>fast_gicp</build_depend>
-  <build_depend>pcl_ros</build_depend>
-  <build_depend>rclcpp</build_depend>
-  <build_depend>rclpy</build_depend>
-  <build_depend>geodesy</build_depend>
-  <build_depend>nmea_msgs</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>visualization_msgs</build_depend>
-  <build_depend>libg2o</build_depend>
-  <build_depend>tf2</build_depend>
-  <build_depend>tf2_ros</build_depend>
-  <build_depend>tf2_eigen</build_depend>
-  <build_depend>geographic_msgs</build_depend>
-  <build_depend>message_filters</build_depend>
-  <build_depend>reasoning_msgs</build_depend>
-  <build_depend>backward_ros</build_depend>
-  <build_depend>rviz_visual_tools</build_depend>
-  <build_depend>s_graphs_msgs</build_depend>
+  <depend>ndt_omp</depend>
+  <depend>fast_gicp</depend>
+  <depend>pcl_ros</depend>
+  <depend>rclcpp</depend>
+  <depend>rclpy</depend>
+  <depend>geodesy</depend>
+  <depend>nmea_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>visualization_msgs</depend>
+  <depend>libg2o</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf2_eigen</depend>
+  <depend>geographic_msgs</depend>
+  <depend>message_filters</depend>
+  <depend>reasoning_msgs</depend>
+  <depend>backward_ros</depend>
+  <depend>rviz_visual_tools</depend>
+  <depend>s_graphs_msgs</depend>
+  <depend>libceres-dev</depend>
+  <depend>ament_cmake_gtest</depend>
 
-  <exec_depend>ndt_omp</exec_depend>
-  <exec_depend>fast_gicp</exec_depend>
-  <exec_depend>pcl_ros</exec_depend>
-  <exec_depend>rclcpp</exec_depend>
-  <exec_depend>rclpy</exec_depend>
-  <exec_depend>geodesy</exec_depend>
-  <exec_depend>nmea_msgs</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>nav_msgs</exec_depend>
-  <exec_depend>visualization_msgs</exec_depend>
-  <exec_depend>tf2</exec_depend>
-  <exec_depend>tf2_ros</exec_depend>
-  <exec_depend>tf2_eigen</exec_depend>
-  <exec_depend>geographic_msgs</exec_depend>
-  <exec_depend>message_filters</exec_depend>
-  <exec_depend>reasoning_msgs</exec_depend>
-  <exec_depend>backward_ros</exec_depend>
-  <exec_depend>rviz_visual_tools</exec_depend>
-  <exec_depend>s_graphs_msgs</exec_depend>
-
-  <build_depend>ament_cmake_gtest</build_depend>
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>