diff --git a/.gitignore b/.gitignore
index b1f42591918b4a0e6f947998eb57d23b96531489..66886f29cfd63f1d4cba246eb6926ed9d53c19ab 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,3 +2,4 @@
 **/devel/
 **/logs/
 **/.catkin_tools/
+**/.catkin_workspace
diff --git a/.gitmodules b/.gitmodules
index 2419606e180613232f4e18f849c566bfde44f234..228c52b9cb8ae43ef7b50169c901afc670ea1ed5 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -4,33 +4,9 @@
 [submodule "project_ws/src/spotMicro"]
 	path = project_ws/src/spotMicro
 	url = git@github.com:mike4192/spotMicro.git
-[submodule "project_ws/src/catkin_simple"]
-	path = project_ws/src/catkin_simple
-	url = git@github.com:catkin/catkin_simple.git
-[submodule "project_ws/src/ze_oss"]
-	path = project_ws/src/ze_oss
-	url = git@github.com:uzh-rpg/ze_oss.git
-[submodule "project_ws/src/glog_catkin"]
-	path = project_ws/src/glog_catkin
-	url = git@github.com:ethz-asl/glog_catkin.git
-[submodule "project_ws/src/gflags_catkin"]
-	path = project_ws/src/gflags_catkin
-	url = git@github.com:ethz-asl/gflags_catkin.git
-[submodule "project_ws/src/eigen_catkin"]
-	path = project_ws/src/eigen_catkin
-	url = git@github.com:ethz-asl/eigen_catkin.git
-[submodule "project_ws/src/eigen_checks"]
-	path = project_ws/src/eigen_checks
-	url = git@github.com:ethz-asl/eigen_checks.git
-[submodule "project_ws/src/minkindr"]
-	path = project_ws/src/minkindr
-	url = git@github.com:ethz-asl/minkindr.git
 [submodule "project_ws/src/catkin_boost_python_buildtool"]
 	path = project_ws/src/catkin_boost_python_buildtool
 	url = git@github.com:ethz-asl/catkin_boost_python_buildtool.git
-[submodule "project_ws/src/yaml_cpp_catkin"]
-	path = project_ws/src/yaml_cpp_catkin
-	url = git@github.com:ethz-asl/yaml_cpp_catkin.git
 [submodule "project_ws/src/numpy_eigen"]
 	path = project_ws/src/numpy_eigen
 	url = git@github.com:ethz-asl/numpy_eigen.git
diff --git a/lab_ws/src/CMakeLists.txt b/lab_ws/src/CMakeLists.txt
deleted file mode 120000
index b073b483f7eaa61e3cdc6f9b012b0a257e95979f..0000000000000000000000000000000000000000
--- a/lab_ws/src/CMakeLists.txt
+++ /dev/null
@@ -1 +0,0 @@
-unsupported reparse point
\ No newline at end of file