diff --git a/.gitmodules b/.gitmodules
index b3efdde..fff6301 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,4 +1,4 @@
 [submodule "embeddedRTPS"]
 	path = embeddedRTPS
 	url = https://github.com/smoriemb/embeddedRTPS.git
-	branch = mros2
+	branch = feature/mros2-frag-msg-proto
diff --git a/embeddedRTPS b/embeddedRTPS
index 52680b0..9ac80c3 160000
--- a/embeddedRTPS
+++ b/embeddedRTPS
@@ -1 +1 @@
-Subproject commit 52680b0bf1633b8af92951c52336a23f0f27af65
+Subproject commit 9ac80c3bbec5bb73669cdbd15d890155c379136c