diff --git a/.gitmodules b/.gitmodules
index 761b10ef..2be4380c 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -33,4 +33,4 @@
 [submodule "src/realsense-ros"]
 	path = src/realsense-ros
 	url = https://github.com/IntelRealSense/realsense-ros.git
-	branch = ros2-master
+	branch = 4.56.1
diff --git a/README.md b/README.md
index b13c18b5..6b35a203 100644
--- a/README.md
+++ b/README.md
@@ -213,19 +213,19 @@ Follow [this](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_apriltag/blob/main/d
 
 Follow [these](https://docs.nvidia.com/jetson/archives/r36.4/DeveloperGuide/HR/ControllerAreaNetworkCan.html) instructions to enable CAN communication on Nvidia Jetson Orin.
 
-1: Put the following in a .conf file in /modules-load.d/
+1: Put the following in the `modules.conf` file in `/etc/modules-load.d/`
 
 ```
-#Setting up the CAN bus 
+# Load the CAN bus kernel modules
 can
 can_raw
 mttcan
 #eof
 ```
 
-2: Find the file /etc/modprobe.d/denylist-mttcan.conf and either delete it or comment out the one line in it (The filename might be .../blacklist-mttcan.conf)
+2: Find the file `/etc/modprobe.d/denylist-mttcan.conf` and delete it if it exists (The filename might also be `/etc/modprobe.d/blacklist-mttcan.conf`)
 
-3: Make a script called "can_startup.sh" in the root directory for the system, with the following contents:
+3: Make a script called "can_startup.sh" in the `/root` directory of the system, with the following contents:
 ```
 #! /usr/bin/sh
 
@@ -233,17 +233,16 @@ sudo ip link set can0 up type can bitrate 500000
 sudo ip link set can1 up type can bitrate 500000
 ```
 
-4: Run the command "sudo crontab -e" and put this line in the file that appears:
+4: Run the command "sudo crontab -e" and add this line to the bottom of the file that appears:
 
 ```
-@reboot sleep 5 && echo 'robot' | sudo -S sh /
-can_startup.sh 2>&1 | logger -t mycmd
+@reboot sleep 5 && echo 'robot' | sudo -S sh can_startup.sh 2>&1 | logger -t mycmd
 ```
 
-And that should work. If it doesn't and you need to read the output of the crontab, use this command:
+And that should work! If it doesn't and you need to read the log output of the crontab, use this command:
 
 ```
-sudo grep 'mycmd' /var/log/syslog
+sudo grep -a 'mycmd' /var/log/syslog
 ```
 </details>
 
diff --git a/src/realsense-ros b/src/realsense-ros
index 1cbd81be..53169f32 160000
--- a/src/realsense-ros
+++ b/src/realsense-ros
@@ -1 +1 @@
-Subproject commit 1cbd81be81e807eefb46f098e76381888ffc7001
+Subproject commit 53169f3265266d07e88c025b950aa4ccaa03e671
diff --git a/src/ros2socketcan_bridge b/src/ros2socketcan_bridge
index 93b8a0ed..c57c3165 160000
--- a/src/ros2socketcan_bridge
+++ b/src/ros2socketcan_bridge
@@ -1 +1 @@
-Subproject commit 93b8a0eddfc10063a94a9d323b09ffc16d596e10
+Subproject commit c57c3165c92dd417b714c928cb4bd5e8e69cfcfb