diff --git a/.gitmodules b/.gitmodules
index 3a0ee973..73b88210 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -10,14 +10,6 @@
 	path = src/external_dependencies/serial
 	url = https://github.com/tylerjw/serial.git
 	branch = ros2
-[submodule "src/external_dependencies/gz_ros2_control"]
-	path = src/external_dependencies/gz_ros2_control
-	url = https://github.com/PickNikRobotics/gz_ros2_control.git
-	branch = mimic-joint-feature-humble
-[submodule "src/external_dependencies/LMS1xx"]
-	path = src/external_dependencies/LMS1xx
-	url = https://github.com/clearpathrobotics/LMS1xx.git
-	branch = humble-devel
 [submodule "src/external_dependencies/ridgeback"]
 	path = src/external_dependencies/ridgeback
 	url = https://github.com/sjahr/ridgeback.git
diff --git a/src/external_dependencies/LMS1xx b/src/external_dependencies/LMS1xx
deleted file mode 160000
index 90001ac2..00000000
--- a/src/external_dependencies/LMS1xx
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 90001ac2849c9f6ab9ca9bbfeb816f9b66f966de
diff --git a/src/external_dependencies/gz_ros2_control b/src/external_dependencies/gz_ros2_control
deleted file mode 160000
index 1cffeb4f..00000000
--- a/src/external_dependencies/gz_ros2_control
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 1cffeb4f986ac6f45dddb3560e187813b775aead