diff --git a/.github/workflows/codeql.yml b/.github/workflows/codeql.yml
index 7beff43..9936a37 100644
--- a/.github/workflows/codeql.yml
+++ b/.github/workflows/codeql.yml
@@ -27,9 +27,6 @@ jobs:
     steps:
     - name: Checkout repository
       uses: actions/checkout@v3
-      with:
-        token: ${{secrets.X_EDR_REPO_PAK}}
-        submodules: 'true'
 
     # Initializes the CodeQL tools for scanning.
     - name: Initialize CodeQL
diff --git a/.gitmodules b/.gitmodules
index e45646b..e69de29 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +0,0 @@
-[submodule "third_party/genit"]
-	path = third_party/genit
-	url = https://github.com/theteamatx/x-edr-genit.git
-[submodule "third_party/eigenmath"]
-	path = third_party/eigenmath
-	url = https://github.com/theteamatx/x-edr-eigenmath.git
diff --git a/WORKSPACE b/WORKSPACE
index 6bad20b..b000b4c 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -48,17 +48,29 @@ protobuf_deps()
 http_archive(
     name = "eigen",
     build_file = "//third_party:eigen.BUILD",
+    sha256 = "8586084f71f9bde545ee7fa6d00288b264a2b7ac3607b974e54d13e7162c1c72",
     url = "https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz",
     strip_prefix="eigen-3.4.0",
 )
 
-local_repository(
-    name = "genit",
-    path = "third_party/genit",
+# GenIt
+_GENIT_VERSION = "1.0.0"
+http_archive(
+    name = "x_edr_genit",
+    sha256 = "ab1bbb15ecbe86c5c3888a12c56fe88fac416f2f305acaf1bbf7f68c3d429851",
+    strip_prefix = "x-edr-genit-%s" % _GENIT_VERSION,
+    urls = [
+        "https://github.com/theteamatx/x-edr-genit/archive/refs/tags/v%s.tar.gz" % _GENIT_VERSION,
+    ],
 )
 
-local_repository(
-    name = "eigenmath",
-    path = "third_party/eigenmath",
+# Eigenmath
+_EIGENMATH_VERSION = "1.0.0"
+http_archive(
+    name = "x_edr_eigenmath",
+    sha256 = "180bf186214b37190e3f26204a271d214b503b25bd22d4228d8f32e7c7151e05",
+    strip_prefix = "x-edr-eigenmath-%s" % _EIGENMATH_VERSION,
+    urls = [
+        "https://github.com/theteamatx/x-edr-eigenmath/archive/refs/tags/v%s.tar.gz" % _EIGENMATH_VERSION,
+    ],
 )
-
diff --git a/diff_drive/BUILD b/diff_drive/BUILD
index 99852a9..d6883fa 100644
--- a/diff_drive/BUILD
+++ b/diff_drive/BUILD
@@ -66,11 +66,11 @@ cc_library(
     ],
     deps = [
         ":interval",
-        "@eigenmath//eigenmath",
-        "@genit//genit:iterators",
         "@com_google_absl//absl/log:check",
         "@com_google_absl//absl/log",
         "@com_google_absl//absl/strings:str_format",
+        "@x_edr_eigenmath//eigenmath",
+        "@x_edr_genit//genit:iterators",
     ],
 )
 
@@ -89,8 +89,8 @@ cc_library(
     deps = [
         ":base_feedback_control_config_cc_proto",
         ":differential_drive",
-        "@eigenmath//eigenmath",
         "@com_google_absl//absl/types:span",
+        "@x_edr_eigenmath//eigenmath",
     ],
 )
 
@@ -100,7 +100,7 @@ proto_library(
         "diff_drive.proto",
     ],
     deps = [
-        "@eigenmath//eigenmath:eigenmath_proto",
+        "@x_edr_eigenmath//eigenmath:eigenmath_proto",
     ],
 )
 
@@ -120,11 +120,11 @@ cc_library(
     deps = [
         ":diff_drive_cc_proto",
         ":differential_drive",
-        "@eigenmath//eigenmath:eigenmath_cc_proto",
-        "@eigenmath//eigenmath:conversions",
         "@com_google_absl//absl/log",
         "@com_google_absl//absl/status",
         "@com_google_absl//absl/strings",
+        "@x_edr_eigenmath//eigenmath:eigenmath_cc_proto",
+        "@x_edr_eigenmath//eigenmath:conversions",
     ],
 )
 
@@ -137,9 +137,9 @@ cc_test(
         ":diff_drive_cc_proto",
         ":diff_drive_conversion",
         ":differential_drive",
-        "@eigenmath//eigenmath:eigenmath_cc_proto",
         "@com_google_protobuf//:protobuf",
         "@com_google_googletest//:gtest_main",
+        "@x_edr_eigenmath//eigenmath:eigenmath_cc_proto",
     ],
 )
 
@@ -186,8 +186,8 @@ cc_library(
     ],
     deps = [
         ":differential_drive",
-        "@eigenmath//eigenmath:matchers",
         "@com_google_googletest//:gtest",
+        "@x_edr_eigenmath//eigenmath:matchers",
     ],
 )
 
@@ -233,10 +233,10 @@ cc_test(
         ":differential_drive",
         ":matchers",
         ":test_fixtures",
-        "@eigenmath//eigenmath:matchers",
-        "@eigenmath//eigenmath:sampling",
         "@com_google_googletest//:gtest_main",
         "@com_google_absl//absl/flags:flag",
+        "@x_edr_eigenmath//eigenmath:matchers",
+        "@x_edr_eigenmath//eigenmath:sampling",
     ],
 )
 
@@ -282,8 +282,8 @@ cc_test(
     deps = [
         ":differential_drive",
         ":test_fixtures",
-        "@eigenmath//eigenmath:matchers",
         "@com_google_googletest//:gtest_main",
+        "@x_edr_eigenmath//eigenmath:matchers",
     ],
 )
 
@@ -294,14 +294,14 @@ cc_test(
     ],
     deps = [
         ":differential_drive",
-        "@eigenmath//eigenmath",
-        "@eigenmath//eigenmath:matchers",
-        "@eigenmath//eigenmath:sampling",
-        "@genit//genit:iterators",
         "@com_google_benchmark//:benchmark",
         "@com_google_googletest//:gtest_main",
         "@com_google_absl//absl/random:distributions",
         "@com_google_absl//absl/strings:str_format",
+        "@x_edr_eigenmath//eigenmath",
+        "@x_edr_eigenmath//eigenmath:matchers",
+        "@x_edr_eigenmath//eigenmath:sampling",
+        "@x_edr_genit//genit:iterators",
     ],
 )
 
@@ -336,8 +336,8 @@ cc_test(
     ],
     deps = [
         ":motion_control",
-        "@eigenmath//eigenmath:matchers",
         "@com_google_googletest//:gtest_main",
+        "@x_edr_eigenmath//eigenmath:matchers",
     ],
 )
 
@@ -349,8 +349,8 @@ cc_test(
     deps = [
         ":differential_drive",
         ":motion_control",
-        "@eigenmath//eigenmath:matchers",
         "@com_google_googletest//:gtest_main",
+        "@x_edr_eigenmath//eigenmath:matchers",
     ],
 )
 
@@ -362,7 +362,7 @@ cc_test(
     deps = [
         ":differential_drive",
         ":motion_control",
-        "@eigenmath//eigenmath:matchers",
         "@com_google_googletest//:gtest_main",
+        "@x_edr_eigenmath//eigenmath:matchers",
     ],
 )
diff --git a/third_party/eigenmath b/third_party/eigenmath
deleted file mode 160000
index 7080426..0000000
--- a/third_party/eigenmath
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 70804261a46fdb1dc8a8cc87974d7c2f05acbb75
diff --git a/third_party/genit b/third_party/genit
deleted file mode 160000
index 542a055..0000000
--- a/third_party/genit
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 542a05502bf8b0e94c7b756aead336dbcf2c7471