diff --git a/src/object_detection/src/lidar_reader.cpp b/src/object_detection/src/lidar_reader.cpp
index bc193910..97767d6b 100644
--- a/src/object_detection/src/lidar_reader.cpp
+++ b/src/object_detection/src/lidar_reader.cpp
@@ -77,6 +77,7 @@ public:
 private:
   void timer_callback()
   {
+    //TODO publish message with all data from lidar
     std::cout << "Distance = " << tower->getDistance() << std::endl;
     std::cout << "IMU = " << tower->getImuData() << std::endl;
   }
diff --git a/src/px4_msgs b/src/px4_msgs
index 4db0a3f1..b64ef047 160000
--- a/src/px4_msgs
+++ b/src/px4_msgs
@@ -1 +1 @@
-Subproject commit 4db0a3f14ea81b9de7511d738f8ad9bd8ae5b3ad
+Subproject commit b64ef0475c1d44605688f4770899fe453d532be4
diff --git a/src/px4_ros_com b/src/px4_ros_com
index 0bcf68bc..1562ff30 160000
--- a/src/px4_ros_com
+++ b/src/px4_ros_com
@@ -1 +1 @@
-Subproject commit 0bcf68bcb635199adcd134e8932932054e863c0d
+Subproject commit 1562ff30d56b7ba26e4d2436724490f900cc2375