diff --git a/.gitmodules b/.gitmodules
index cfd7a69..4dae240 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -9,27 +9,23 @@
 	path = utils/ndt_omp
 	url = https://github.com/koide3/ndt_omp.git
 	branch = master
-[submodule "utils/reasoning/graph_reasoning"]
-	path = utils/reasoning/graph_reasoning
-	url = https://github.com/snt-arg/graph_reasoning.git
-	branch = develop
-[submodule "utils/reasoning/graph_wrapper"]
-	path = utils/reasoning/graph_wrapper
-	url = https://github.com/snt-arg/graph_wrapper.git
-	branch = develop
-[submodule "utils/reasoning/graph_datasets"]
-	path = utils/reasoning/graph_datasets
-	url = https://github.com/snt-arg/graph_datasets.git
-	branch = develop
-[submodule "utils/reasoning/graph_matching"]
-	path = utils/reasoning/graph_matching
-	url = https://github.com/snt-arg/graph_matching.git
-	branch = develop
-[submodule "utils/msgs/reasoning_msgs"]
-	path = utils/msgs/reasoning_msgs
-	url = https://github.com/snt-arg/reasoning_msgs.git
-	branch = main
 [submodule "utils/msgs/s_graphs_msgs"]
 	path = utils/msgs/s_graphs_msgs
 	url = https://github.com/snt-arg/s_graphs_msgs.git
 	branch = main
+[submodule "utils/reasoning/situational_graphs_reasoning"]
+	path = utils/reasoning/situational_graphs_reasoning
+	url = https://github.com/snt-arg/situational_graphs_reasoning.git
+	branch = develop
+[submodule "utils/reasoning/situational_graphs_wrapper"]
+	path = utils/reasoning/situational_graphs_wrapper
+	url = https://github.com/snt-arg/situational_graphs_wrapper.git
+	branch = develop
+[submodule "utils/reasoning/situational_graphs_datasets"]
+	path = utils/reasoning/situational_graphs_datasets
+	url = https://github.com/snt-arg/situational_graphs_datasets.git
+	branch = develop
+[submodule "utils/msgs/situational_graphs_reasoning_msgs"]
+	path = utils/msgs/situational_graphs_reasoning_msgs
+	url = https://github.com/snt-arg/situational_graphs_reasoning_msgs.git
+	branch = main
diff --git a/.rosinstall_ros2 b/.rosinstall_ros2
index ccea1dc..d1df470 100644
--- a/.rosinstall_ros2
+++ b/.rosinstall_ros2
@@ -7,27 +7,19 @@ repositories:
     type: git
     url: https://github.com/koide3/ndt_omp.git
     version: master
-  s_graphs_utils/reasoning/graph_reasoning:
+  s_graphs_utils/reasoning/situational_graphs_reasoning:
     type: git
-    url: https://github.com/snt-arg/graph_reasoning.git
+    url: https://github.com/snt-arg/situational_graphs_reasoning.git
     version: complete_gnn_architecture
-  s_graphs_utils/reasoning/graph_wrapper:
+  s_graphs_utils/reasoning/situational_graphs_datasets:
     type: git
-    url: https://github.com/snt-arg/graph_wrapper.git
-    version: develop
-  s_graphs_utils/reasoning/graph_datasets:
-    type: git
-    url: https://github.com/snt-arg/graph_datasets.git
+    url: https://github.com/snt-arg/situational_graphs_datasets.git
     version: graph_reasoning
-  s_graphs_utils/reasoning/graph_matching:
-    type: git
-    url: https://github.com/snt-arg/graph_matching.git
-    version: develop  
-  s_graphs_utils/msgs/reasoning_msgs:
+  s_graphs_utils/msgs/situational_graphs_reasoning_msgs:
     type: git
-    url: https://github.com/snt-arg/reasoning_msgs.git
+    url: https://github.com/snt-arg/situational_graphs_reasoning_msgs.git
     version: main
   s_graphs_utils/msgs/s_graphs_msgs:
     type: git
     url: https://github.com/snt-arg/s_graphs_msgs.git
-    version: main  
\ No newline at end of file
+    version: main  
diff --git a/.virtual_mprocs.yaml b/.virtual_mprocs.yaml
index faca665..5bd1689 100644
--- a/.virtual_mprocs.yaml
+++ b/.virtual_mprocs.yaml
@@ -1,6 +1,6 @@
 procs:
   rosbag:
-    shell: 'bash -c "source ~/workspaces/s_graphs/install/setup.bash && ros2 bag play ~/Downloads/virtual/stugalux_oetrange_f2_3r.db3"'
+    shell: 'bash -c "sleep 1 && source ~/workspaces/s_graphs/install/setup.bash && ros2 bag play ~/Downloads/virtual/stugalux_oetrange_f2_3r.db3"'
     autostart: true
     stop: SIGINT
   s_graphs:
@@ -8,4 +8,4 @@ procs:
     autostart: true
   rviz:
     shell: 'bash -c "source ~/workspaces/s_graphs/install/setup.bash && rviz2 -d ~/workspaces/s_graphs/s_graphs/rviz/s_graphs_ros2.rviz"'
-    autostart: true
\ No newline at end of file
+    autostart: true
diff --git a/s_graphs/CMakeLists.txt b/s_graphs/CMakeLists.txt
index bc8d122..e19436e 100644
--- a/s_graphs/CMakeLists.txt
+++ b/s_graphs/CMakeLists.txt
@@ -41,7 +41,7 @@ find_package(tf2_ros REQUIRED)
 find_package(tf2_eigen REQUIRED)
 find_package(message_filters REQUIRED)
 find_package(geographic_msgs REQUIRED)
-find_package(reasoning_msgs REQUIRED)
+find_package(situational_graphs_reasoning_msgs REQUIRED)
 find_package(backward_ros REQUIRED)
 find_package(rviz_visual_tools REQUIRED)
 find_package(s_graphs_msgs REQUIRED)
@@ -92,7 +92,7 @@ set(DEPENDENCIES
     tf2_ros
     tf2_eigen
     pcl_ros
-    reasoning_msgs
+    situational_graphs_reasoning_msgs
     visualization_msgs
     message_filters
     geographic_msgs
diff --git a/s_graphs/apps/s_graphs_node.cpp b/s_graphs/apps/s_graphs_node.cpp
index 901dd89..40b18ff 100644
--- a/s_graphs/apps/s_graphs_node.cpp
+++ b/s_graphs/apps/s_graphs_node.cpp
@@ -286,7 +286,7 @@ class SGraphsNode : public rclcpp::Node {
         "s_graphs/all_map_planes", 1, pub_opt);
     read_until_pub = this->create_publisher<std_msgs::msg::Header>(
         "s_graphs/read_until", 32, pub_opt);
-    graph_pub = this->create_publisher<reasoning_msgs::msg::Graph>(
+    graph_pub = this->create_publisher<situational_graphs_reasoning_msgs::msg::Graph>(
         "s_graphs/graph_structure", 32, pub_opt);
 
     dump_service_server = this->create_service<s_graphs_msgs::srv::DumpGraph>(
@@ -1787,7 +1787,7 @@ class SGraphsNode : public rclcpp::Node {
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr map_points_pub;
   rclcpp::Publisher<s_graphs_msgs::msg::PlanesData>::SharedPtr map_planes_pub;
   rclcpp::Publisher<s_graphs_msgs::msg::PlanesData>::SharedPtr all_map_planes_pub;
-  rclcpp::Publisher<reasoning_msgs::msg::Graph>::SharedPtr graph_pub;
+  rclcpp::Publisher<situational_graphs_reasoning_msgs::msg::Graph>::SharedPtr graph_pub;
 
   std::shared_ptr<tf2_ros::TransformListener> tf_listener{nullptr};
   std::unique_ptr<tf2_ros::Buffer> tf_buffer;
diff --git a/s_graphs/include/s_graphs/common/room_utils.hpp b/s_graphs/include/s_graphs/common/room_utils.hpp
index c22fd0f..7d8b6fb 100644
--- a/s_graphs/include/s_graphs/common/room_utils.hpp
+++ b/s_graphs/include/s_graphs/common/room_utils.hpp
@@ -64,12 +64,12 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 #include <unordered_map>
 
 #include "geometry_msgs/msg/point.hpp"
-#include "reasoning_msgs/msg/attribute.hpp"
-#include "reasoning_msgs/msg/edge.hpp"
-#include "reasoning_msgs/msg/graph.hpp"
-#include "reasoning_msgs/msg/graph_keyframes.hpp"
-#include "reasoning_msgs/msg/node.hpp"
-#include "reasoning_msgs/msg/room_keyframe.hpp"
+#include "situational_graphs_reasoning_msgs/msg/attribute.hpp"
+#include "situational_graphs_reasoning_msgs/msg/edge.hpp"
+#include "situational_graphs_reasoning_msgs/msg/graph.hpp"
+#include "situational_graphs_reasoning_msgs/msg/graph_keyframes.hpp"
+#include "situational_graphs_reasoning_msgs/msg/node.hpp"
+#include "situational_graphs_reasoning_msgs/msg/room_keyframe.hpp"
 #include "s_graphs_msgs/msg/plane_data.hpp"
 #include "s_graphs_msgs/msg/planes_data.hpp"
 #include "s_graphs_msgs/msg/room_data.hpp"
@@ -318,10 +318,10 @@ class RoomsKeyframeGenerator : public s_graphs::Rooms {
   const std::map<int, s_graphs::KeyFrame::Ptr>* keyframes_;
 };
 
-reasoning_msgs::msg::RoomKeyframe convertExtendedRoomToRosMsg(
+situational_graphs_reasoning_msgs::msg::RoomKeyframe convertExtendedRoomToRosMsg(
     const ExtendedRooms& room);
 
 ExtendedRooms obtainExtendedRoomFromRosMsg(
-    const reasoning_msgs::msg::RoomKeyframe& msg);
+    const situational_graphs_reasoning_msgs::msg::RoomKeyframe& msg);
 
 #endif
diff --git a/s_graphs/include/s_graphs/common/ros_utils.hpp b/s_graphs/include/s_graphs/common/ros_utils.hpp
index 03aa857..f795c86 100644
--- a/s_graphs/include/s_graphs/common/ros_utils.hpp
+++ b/s_graphs/include/s_graphs/common/ros_utils.hpp
@@ -41,7 +41,7 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 #include "geometry_msgs/msg/pose.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "geometry_msgs/msg/transform_stamped.hpp"
-#include "reasoning_msgs/msg/keyframe.hpp"
+#include "situational_graphs_reasoning_msgs/msg/keyframe.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "s_graphs/common/keyframe.hpp"
@@ -110,7 +110,7 @@ Eigen::Isometry3d odom2isometry(const nav_msgs::msg::Odometry::SharedPtr& odom_m
  * @param
  * @return
  */
-KeyFrame ROS2Keyframe(const reasoning_msgs::msg::Keyframe& msg);
+KeyFrame ROS2Keyframe(const situational_graphs_reasoning_msgs::msg::Keyframe& msg);
 
 /**
  * @brief
@@ -118,7 +118,7 @@ KeyFrame ROS2Keyframe(const reasoning_msgs::msg::Keyframe& msg);
  * @param
  * @return
  */
-reasoning_msgs::msg::Keyframe Keyframe2ROS(const KeyFrame& keyframe);
+situational_graphs_reasoning_msgs::msg::Keyframe Keyframe2ROS(const KeyFrame& keyframe);
 
 }  // namespace s_graphs
 #endif  // ROS_UTILS_HPP
diff --git a/s_graphs/include/s_graphs/visualization/graph_publisher.hpp b/s_graphs/include/s_graphs/visualization/graph_publisher.hpp
index 592d455..f96aa2b 100644
--- a/s_graphs/include/s_graphs/visualization/graph_publisher.hpp
+++ b/s_graphs/include/s_graphs/visualization/graph_publisher.hpp
@@ -79,11 +79,11 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 #include <unordered_map>
 
 #include "geometry_msgs/msg/point.hpp"
-#include "reasoning_msgs/msg/attribute.hpp"
-#include "reasoning_msgs/msg/edge.hpp"
-#include "reasoning_msgs/msg/graph.hpp"
-#include "reasoning_msgs/msg/graph_keyframes.hpp"
-#include "reasoning_msgs/msg/node.hpp"
+#include "situational_graphs_reasoning_msgs/msg/attribute.hpp"
+#include "situational_graphs_reasoning_msgs/msg/edge.hpp"
+#include "situational_graphs_reasoning_msgs/msg/graph.hpp"
+#include "situational_graphs_reasoning_msgs/msg/graph_keyframes.hpp"
+#include "situational_graphs_reasoning_msgs/msg/node.hpp"
 #include "pcl_ros/transforms.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "s_graphs/common/room_utils.hpp"
@@ -101,7 +101,7 @@ class GraphPublisher {
   ~GraphPublisher();
 
  public:
-  reasoning_msgs::msg::Graph publish_graph(
+  situational_graphs_reasoning_msgs::msg::Graph publish_graph(
       const g2o::SparseOptimizer* local_graph,
       std::string graph_type,
       const std::vector<s_graphs::VerticalPlanes>& x_vert_planes_prior,
@@ -113,7 +113,7 @@ class GraphPublisher {
       const std::vector<s_graphs::InfiniteRooms>& x_infinite_rooms,
       const std::vector<s_graphs::InfiniteRooms>& y_infinite_rooms);
 
-  reasoning_msgs::msg::GraphKeyframes publish_graph_keyframes(
+  situational_graphs_reasoning_msgs::msg::GraphKeyframes publish_graph_keyframes(
       const g2o::SparseOptimizer* local_graph,
       const std::vector<s_graphs::KeyFrame::Ptr>& keyframes);
 
diff --git a/s_graphs/launch/s_graphs_launch.py b/s_graphs/launch/s_graphs_launch.py
index 303285e..eec0238 100644
--- a/s_graphs/launch/s_graphs_launch.py
+++ b/s_graphs/launch/s_graphs_launch.py
@@ -37,8 +37,8 @@ def generate_launch_description():
     )
 
 def launch_reasoning():
-    reasoning_dir = get_package_share_directory('graph_reasoning')
-    reasoning_launch_file = os.path.join(reasoning_dir, "launch", "graph_reasoning.launch.py")
+    reasoning_dir = get_package_share_directory('situational_graphs_reasoning')
+    reasoning_launch_file = os.path.join(reasoning_dir, "launch", "situational_graphs_reasoning.launch.py")
     reasoning_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(reasoning_launch_file))    
     
diff --git a/s_graphs/package.xml b/s_graphs/package.xml
index 3f4a634..daa0883 100644
--- a/s_graphs/package.xml
+++ b/s_graphs/package.xml
@@ -31,9 +31,9 @@
   <depend>backward_ros</depend>
   <depend>rviz_visual_tools</depend>
   <depend>libceres-dev</depend>
-  <depend>graph_reasoning</depend>
   <depend>s_graphs_msgs</depend>
-  <depend>reasoning_msgs</depend>
+  <depend>situational_graphs_reasoning</depend>
+  <depend>situational_graphs_reasoning_msgs</depend>
 
   <depend>ament_cmake_gtest</depend>
 
diff --git a/s_graphs/src/s_graphs/common/room_utils.cpp b/s_graphs/src/s_graphs/common/room_utils.cpp
index a0e9d21..eabd1b2 100644
--- a/s_graphs/src/s_graphs/common/room_utils.cpp
+++ b/s_graphs/src/s_graphs/common/room_utils.cpp
@@ -283,9 +283,9 @@ bool is_keyframe_inside_room(
   return false;
 }
 
-reasoning_msgs::msg::RoomKeyframe convertExtendedRoomToRosMsg(
+situational_graphs_reasoning_msgs::msg::RoomKeyframe convertExtendedRoomToRosMsg(
     const ExtendedRooms& room) {
-  reasoning_msgs::msg::RoomKeyframe msg;
+  situational_graphs_reasoning_msgs::msg::RoomKeyframe msg;
   msg.header.frame_id = "room";
   msg.id = room.id;
   pcl::toROSMsg(*room.cloud, msg.pointcloud);
@@ -302,7 +302,7 @@ reasoning_msgs::msg::RoomKeyframe convertExtendedRoomToRosMsg(
 }
 
 ExtendedRooms obtainExtendedRoomFromRosMsg(
-    const reasoning_msgs::msg::RoomKeyframe& msg) {
+    const situational_graphs_reasoning_msgs::msg::RoomKeyframe& msg) {
   ExtendedRooms room;
   room.id = msg.id;
   pcl::fromROSMsg(msg.pointcloud, *room.cloud);
diff --git a/s_graphs/src/s_graphs/common/ros_utils.cpp b/s_graphs/src/s_graphs/common/ros_utils.cpp
index 150f022..cd25038 100644
--- a/s_graphs/src/s_graphs/common/ros_utils.cpp
+++ b/s_graphs/src/s_graphs/common/ros_utils.cpp
@@ -146,7 +146,7 @@ Eigen::Isometry3d odom2isometry(const nav_msgs::msg::Odometry::SharedPtr& odom_m
   return isometry;
 }
 
-KeyFrame ROS2Keyframe(const reasoning_msgs::msg::Keyframe& msg) {
+KeyFrame ROS2Keyframe(const situational_graphs_reasoning_msgs::msg::Keyframe& msg) {
   pcl::PointCloud<KeyFrame::PointT>::Ptr cloud =
       pcl::PointCloud<KeyFrame::PointT>::Ptr();
   pcl::fromROSMsg(msg.pointcloud, *cloud);
@@ -160,9 +160,9 @@ KeyFrame ROS2Keyframe(const reasoning_msgs::msg::Keyframe& msg) {
   return keyframe;
 }
 
-reasoning_msgs::msg::Keyframe Keyframe2ROS(const KeyFrame& keyframe) {
+situational_graphs_reasoning_msgs::msg::Keyframe Keyframe2ROS(const KeyFrame& keyframe) {
   // TODO: add_accumulated_distance
-  reasoning_msgs::msg::Keyframe msg;
+  situational_graphs_reasoning_msgs::msg::Keyframe msg;
   msg.id = keyframe.id();
   msg.header.stamp = keyframe.stamp;
   msg.pose = isometry2pose(keyframe.estimate());
diff --git a/s_graphs/src/s_graphs/visualization/graph_publisher.cpp b/s_graphs/src/s_graphs/visualization/graph_publisher.cpp
index f7465a3..cdff314 100644
--- a/s_graphs/src/s_graphs/visualization/graph_publisher.cpp
+++ b/s_graphs/src/s_graphs/visualization/graph_publisher.cpp
@@ -9,7 +9,7 @@
 GraphPublisher::GraphPublisher() {}
 
 GraphPublisher::~GraphPublisher() {}
-reasoning_msgs::msg::Graph GraphPublisher::publish_graph(
+situational_graphs_reasoning_msgs::msg::Graph GraphPublisher::publish_graph(
     const g2o::SparseOptimizer* local_graph,
     std::string graph_type,
     const std::vector<s_graphs::VerticalPlanes>& x_vert_planes_prior,
@@ -20,19 +20,19 @@ reasoning_msgs::msg::Graph GraphPublisher::publish_graph(
     const std::vector<s_graphs::Rooms>& rooms_vec,
     const std::vector<s_graphs::InfiniteRooms>& x_infinite_rooms,
     const std::vector<s_graphs::InfiniteRooms>& y_infinite_rooms) {
-  std::vector<reasoning_msgs::msg::Edge> edges_vec;
-  std::vector<reasoning_msgs::msg::Node> nodes_vec;
-  reasoning_msgs::msg::Graph graph_msg;
-  std::vector<reasoning_msgs::msg::Attribute> edge_att_vec;
-  std::vector<reasoning_msgs::msg::Attribute> node_att_vec;
+  std::vector<situational_graphs_reasoning_msgs::msg::Edge> edges_vec;
+  std::vector<situational_graphs_reasoning_msgs::msg::Node> nodes_vec;
+  situational_graphs_reasoning_msgs::msg::Graph graph_msg;
+  std::vector<situational_graphs_reasoning_msgs::msg::Attribute> edge_att_vec;
+  std::vector<situational_graphs_reasoning_msgs::msg::Attribute> node_att_vec;
 
   // Graph Type
   if (graph_type == "Prior") {
     graph_msg.name = "Prior";
     for (int i = 0; i < x_vert_planes_prior.size(); i++) {
       g2o::Plane3D v_plane = x_vert_planes_prior[i].plane;
-      reasoning_msgs::msg::Node graph_node;
-      reasoning_msgs::msg::Attribute node_attribute;
+      situational_graphs_reasoning_msgs::msg::Node graph_node;
+      situational_graphs_reasoning_msgs::msg::Attribute node_attribute;
       graph_node.id = x_vert_planes_prior[i].id;
       graph_node.type = "Plane";
       node_attribute.name = "Geometric_info";
@@ -49,8 +49,8 @@ reasoning_msgs::msg::Graph GraphPublisher::publish_graph(
     }
     for (int i = 0; i < y_vert_planes_prior.size(); i++) {
       g2o::Plane3D v_plane = y_vert_planes_prior[i].plane;
-      reasoning_msgs::msg::Node graph_node;
-      reasoning_msgs::msg::Attribute node_attribute;
+      situational_graphs_reasoning_msgs::msg::Node graph_node;
+      situational_graphs_reasoning_msgs::msg::Attribute node_attribute;
       graph_node.id = y_vert_planes_prior[i].id;
       graph_node.type = "Plane";
       node_attribute.name = "Geometric_info";
@@ -67,10 +67,10 @@ reasoning_msgs::msg::Graph GraphPublisher::publish_graph(
     }
     for (int i = 0; i < rooms_vec_prior.size(); i++) {
       g2o::VertexRoom* v_room = rooms_vec_prior[i].node;
-      reasoning_msgs::msg::Edge graph_edge;
-      reasoning_msgs::msg::Node graph_node;
-      reasoning_msgs::msg::Attribute edge_attribute;
-      reasoning_msgs::msg::Attribute node_attribute;
+      situational_graphs_reasoning_msgs::msg::Edge graph_edge;
+      situational_graphs_reasoning_msgs::msg::Node graph_node;
+      situational_graphs_reasoning_msgs::msg::Attribute edge_attribute;
+      situational_graphs_reasoning_msgs::msg::Attribute node_attribute;
       graph_node.id = rooms_vec_prior[i].id;
       graph_node.type = "Finite Room";
       node_attribute.name = "Geometric_info";
@@ -121,8 +121,8 @@ reasoning_msgs::msg::Graph GraphPublisher::publish_graph(
     graph_msg.name = "ONLINE";
     for (int i = 0; i < x_vert_planes.size(); i++) {
       g2o::Plane3D v_plane = x_vert_planes[i].plane;
-      reasoning_msgs::msg::Node graph_node;
-      reasoning_msgs::msg::Attribute node_attribute;
+      situational_graphs_reasoning_msgs::msg::Node graph_node;
+      situational_graphs_reasoning_msgs::msg::Attribute node_attribute;
       graph_node.id = x_vert_planes[i].id;
       graph_node.type = "Plane";
       node_attribute.name = "Geometric_info";
@@ -139,8 +139,8 @@ reasoning_msgs::msg::Graph GraphPublisher::publish_graph(
     }
     for (int i = 0; i < y_vert_planes.size(); i++) {
       g2o::Plane3D v_plane = y_vert_planes[i].plane;
-      reasoning_msgs::msg::Node graph_node;
-      reasoning_msgs::msg::Attribute node_attribute;
+      situational_graphs_reasoning_msgs::msg::Node graph_node;
+      situational_graphs_reasoning_msgs::msg::Attribute node_attribute;
       graph_node.id = y_vert_planes[i].id;
       graph_node.type = "Plane";
       node_attribute.name = "Geometric_info";
@@ -157,10 +157,10 @@ reasoning_msgs::msg::Graph GraphPublisher::publish_graph(
     }
     for (int i = 0; i < rooms_vec.size(); i++) {
       g2o::VertexRoom* v_room = rooms_vec[i].node;
-      reasoning_msgs::msg::Edge graph_edge;
-      reasoning_msgs::msg::Node graph_node;
-      reasoning_msgs::msg::Attribute edge_attribute;
-      reasoning_msgs::msg::Attribute node_attribute;
+      situational_graphs_reasoning_msgs::msg::Edge graph_edge;
+      situational_graphs_reasoning_msgs::msg::Node graph_node;
+      situational_graphs_reasoning_msgs::msg::Attribute edge_attribute;
+      situational_graphs_reasoning_msgs::msg::Attribute node_attribute;
       graph_node.id = rooms_vec[i].id;
       graph_node.type = "Finite Room";
       node_attribute.name = "Geometric_info";
@@ -209,10 +209,10 @@ reasoning_msgs::msg::Graph GraphPublisher::publish_graph(
 
     // for(int i = 0; i < x_infinite_rooms.size(); i++) {
     //   g2o::VertexRoom* v_room = x_infinite_rooms[i].node;
-    //   reasoning_msgs::msg::Edge graph_edge;
-    //   reasoning_msgs::msg::Node graph_node;
-    //   reasoning_msgs::msg::Attribute edge_attribute;
-    //   reasoning_msgs::msg::Attribute node_attribute;
+    //   situational_graphs_reasoning_msgs::msg::Edge graph_edge;
+    //   situational_graphs_reasoning_msgs::msg::Node graph_node;
+    //   situational_graphs_reasoning_msgs::msg::Attribute edge_attribute;
+    //   situational_graphs_reasoning_msgs::msg::Attribute node_attribute;
 
     //   // X Infinte Room Node
     //   graph_node.id = x_infinite_rooms[i].id;
@@ -248,10 +248,10 @@ reasoning_msgs::msg::Graph GraphPublisher::publish_graph(
 
     // for(int i = 0; i < y_infinite_rooms.size(); i++) {
     //   g2o::VertexRoom* v_room = y_infinite_rooms[i].node;
-    //   reasoning_msgs::msg::Edge graph_edge;
-    //   reasoning_msgs::msg::Node graph_node;
-    //   reasoning_msgs::msg::Attribute edge_attribute;
-    //   reasoning_msgs::msg::Attribute node_attribute;
+    //   situational_graphs_reasoning_msgs::msg::Edge graph_edge;
+    //   situational_graphs_reasoning_msgs::msg::Node graph_node;
+    //   situational_graphs_reasoning_msgs::msg::Attribute edge_attribute;
+    //   situational_graphs_reasoning_msgs::msg::Attribute node_attribute;
 
     //   // Y Infinte Room Node
     //   graph_node.id = y_infinite_rooms[i].id;
@@ -294,8 +294,8 @@ reasoning_msgs::msg::Graph GraphPublisher::publish_graph(
       g2o::EdgeSE3Plane* edge_plane = dynamic_cast<g2o::EdgeSE3Plane*>(edge);
 
       if (edge_2p) {
-        reasoning_msgs::msg::Node graph_node;
-        reasoning_msgs::msg::Attribute node_attribute;
+        situational_graphs_reasoning_msgs::msg::Node graph_node;
+        situational_graphs_reasoning_msgs::msg::Attribute node_attribute;
         g2o::VertexPlane* v_plane1 =
             dynamic_cast<g2o::VertexPlane*>(edge_2p->vertices()[0]);
         g2o::VertexPlane* v_plane2 =
@@ -304,7 +304,7 @@ reasoning_msgs::msg::Graph GraphPublisher::publish_graph(
         auto found_vertex1 = std::find_if(
             nodes_vec.begin(),
             nodes_vec.end(),
-            boost::bind(&reasoning_msgs::msg::Node::id, _1) == v_plane1->id());
+            boost::bind(&situational_graphs_reasoning_msgs::msg::Node::id, _1) == v_plane1->id());
         if (found_vertex1 == nodes_vec.end()) {
           graph_node.id = v_plane1->id();
           graph_node.type = "Plane";
@@ -323,7 +323,7 @@ reasoning_msgs::msg::Graph GraphPublisher::publish_graph(
         auto found_vertex2 = std::find_if(
             nodes_vec.begin(),
             nodes_vec.end(),
-            boost::bind(&reasoning_msgs::msg::Node::id, _1) == v_plane2->id());
+            boost::bind(&situational_graphs_reasoning_msgs::msg::Node::id, _1) == v_plane2->id());
         if (found_vertex2 == nodes_vec.end()) {
           graph_node.id = v_plane2->id();
           graph_node.type = "Plane";
@@ -349,10 +349,10 @@ reasoning_msgs::msg::Graph GraphPublisher::publish_graph(
   return graph_msg;
 }
 
-reasoning_msgs::msg::GraphKeyframes GraphPublisher::publish_graph_keyframes(
+situational_graphs_reasoning_msgs::msg::GraphKeyframes GraphPublisher::publish_graph_keyframes(
     const g2o::SparseOptimizer* local_graph,
     const std::vector<s_graphs::KeyFrame::Ptr>& keyframes) {
-  reasoning_msgs::msg::GraphKeyframes msg;
+  situational_graphs_reasoning_msgs::msg::GraphKeyframes msg;
   msg.keyframes.reserve(keyframes.size());
   for (auto& keyframe : keyframes) {
     msg.keyframes.emplace_back(s_graphs::Keyframe2ROS(*keyframe));
diff --git a/utils/msgs/reasoning_msgs b/utils/msgs/reasoning_msgs
deleted file mode 160000
index 294e482..0000000
--- a/utils/msgs/reasoning_msgs
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 294e4821fa63e44305befc921c21dcfa46bc3aaf
diff --git a/utils/msgs/situational_graphs_reasoning_msgs b/utils/msgs/situational_graphs_reasoning_msgs
new file mode 160000
index 0000000..6ff2493
--- /dev/null
+++ b/utils/msgs/situational_graphs_reasoning_msgs
@@ -0,0 +1 @@
+Subproject commit 6ff24931de6e9eb549bd306a13506befe7cc2cc0
diff --git a/utils/reasoning/graph_datasets b/utils/reasoning/graph_datasets
deleted file mode 160000
index 885b7de..0000000
--- a/utils/reasoning/graph_datasets
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 885b7de557a6651c6a22d5a8e3024b428499e442
diff --git a/utils/reasoning/graph_matching b/utils/reasoning/graph_matching
deleted file mode 160000
index d997284..0000000
--- a/utils/reasoning/graph_matching
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit d99728475ea54ef1fdb3cdc2c4464e07a96ab0f8
diff --git a/utils/reasoning/graph_reasoning b/utils/reasoning/graph_reasoning
deleted file mode 160000
index b5d9ed5..0000000
--- a/utils/reasoning/graph_reasoning
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit b5d9ed55f63341005a9e2d9c69f2529b882b2fb2
diff --git a/utils/reasoning/graph_wrapper b/utils/reasoning/graph_wrapper
deleted file mode 160000
index 2373d1b..0000000
--- a/utils/reasoning/graph_wrapper
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 2373d1b7858615930451bfacf28598de44ead68f
diff --git a/utils/reasoning/situational_graphs_datasets b/utils/reasoning/situational_graphs_datasets
new file mode 160000
index 0000000..fd6d2da
--- /dev/null
+++ b/utils/reasoning/situational_graphs_datasets
@@ -0,0 +1 @@
+Subproject commit fd6d2dafd4ebf6110295a676328d71afc21e89dc
diff --git a/utils/reasoning/situational_graphs_reasoning b/utils/reasoning/situational_graphs_reasoning
new file mode 160000
index 0000000..04024f4
--- /dev/null
+++ b/utils/reasoning/situational_graphs_reasoning
@@ -0,0 +1 @@
+Subproject commit 04024f42377de80c639917542b1454a9f21f89fe
diff --git a/utils/reasoning/situational_graphs_wrapper b/utils/reasoning/situational_graphs_wrapper
new file mode 160000
index 0000000..14563cc
--- /dev/null
+++ b/utils/reasoning/situational_graphs_wrapper
@@ -0,0 +1 @@
+Subproject commit 14563ccbbdd3ea67a3a51fef3859c85f15adb6bc