diff --git a/.gitmodules b/.gitmodules
index 2df9a27b1437cd21c5b7f19239a274af59320eb8..ebd36f5a7a80927b9118879a3423f98878f84ca3 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -40,3 +40,6 @@
 [submodule "src/image_pipeline"]
 	path = src/image_pipeline
 	url = git@github.com:Tuebel/image_pipeline.git
+[submodule "src/tf_low_pass"]
+	path = src/tf_low_pass
+	url = git@git.rwth-aachen.de:tim.uebelhoer/tf_low_pass.git
diff --git a/src/iiwa_com b/src/iiwa_com
index cea6761d7e12126c759cf7090a9020681f68e1a2..791613ad42b23a03c463eed29d07ed467ebaa7ea 160000
--- a/src/iiwa_com
+++ b/src/iiwa_com
@@ -1 +1 @@
-Subproject commit cea6761d7e12126c759cf7090a9020681f68e1a2
+Subproject commit 791613ad42b23a03c463eed29d07ed467ebaa7ea
diff --git a/src/robo_guide_bags b/src/robo_guide_bags
index d9473dd314b62da359b92124ea1998e78267fdcb..cbe5b26f835a3e2503e258c95cd4b148e079e4e0 160000
--- a/src/robo_guide_bags
+++ b/src/robo_guide_bags
@@ -1 +1 @@
-Subproject commit d9473dd314b62da359b92124ea1998e78267fdcb
+Subproject commit cbe5b26f835a3e2503e258c95cd4b148e079e4e0
diff --git a/src/tf_low_pass b/src/tf_low_pass
new file mode 160000
index 0000000000000000000000000000000000000000..9b4d80e233d114f613a937d7d481ed6e501cbf17
--- /dev/null
+++ b/src/tf_low_pass
@@ -0,0 +1 @@
+Subproject commit 9b4d80e233d114f613a937d7d481ed6e501cbf17