diff --git a/Dockerfile b/Dockerfile
index 01bd2e0..2a94d15 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -11,9 +11,6 @@ COPY upstream.jazzy.repos ./upstream.jazzy.repos
 # Import all upstream repostories
 RUN vcs import ./src/upstream < ./upstream.jazzy.repos
 
-RUN cd ./src/upstream/FAST_LIO && \
-    git submodule update --init
-
 # Apply patches to upstream
 RUN ./patches/apply_patches.sh
 
@@ -38,17 +35,11 @@ RUN apt-get update && \
     rosdep install --from-paths src --ignore-src -r -y && \
     rm -rf /var/lib/apt/lists/*
 
-RUN cd src/upstream/livox_sdk && \
-    mkdir -p build && \
-    cd build && rm -rf * && \
-    cmake .. -DCMAKE_BUILD_TYPE=Release && \
-    make -j && \
-    make install
-
 # Build the workspace with symlink install
+# livox_sdk is now an ament_cmake package built by colcon (no manual /usr/local install needed).
 RUN . /opt/ros/jazzy/setup.sh && \
     colcon build --symlink-install \
-    li    --cmake-args -DROS_EDITION=ROS2 -DDISTRO_ROS=jazzy
+    --cmake-args -DROS_EDITION=ROS2 -DDISTRO_ROS=jazzy
 
 # Source the overlay on container startup
 RUN echo "source /opt/ros/jazzy/setup.bash" >> /root/.bashrc && \
diff --git a/patches/fast_lio.patch b/patches/fast_lio.patch
index 494cbc3..3a68c9b 100644
--- a/patches/fast_lio.patch
+++ b/patches/fast_lio.patch
@@ -1,14 +1,37 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index be3040b..4931c35 100644
+index be3040b..3176847 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -5,17 +5,16 @@ if(NOT CMAKE_BUILD_TYPE)
+@@ -5,17 +5,39 @@ if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE Release)
  endif()
  
 -ADD_COMPILE_OPTIONS(-std=c++14)
 -ADD_COMPILE_OPTIONS(-std=c++14)
 -set(CMAKE_CXX_FLAGS "-std=c++14 -O3")
++# Ensure the bundled ikd-Tree submodule (include/ikd-Tree/ikd_Tree.cpp) is present.
++# Auto-initialize it when building from a git checkout; otherwise fail with guidance.
++if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/include/ikd-Tree/ikd_Tree.cpp")
++  find_package(Git QUIET)
++  if(GIT_FOUND AND EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/.git")
++    message(STATUS "fast_lio: initializing git submodule include/ikd-Tree")
++    execute_process(
++      COMMAND ${GIT_EXECUTABLE} submodule update --init --recursive
++      WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
++      RESULT_VARIABLE GIT_SUBMOD_RESULT)
++    if(NOT GIT_SUBMOD_RESULT EQUAL "0")
++      message(FATAL_ERROR
++        "git submodule update --init failed with ${GIT_SUBMOD_RESULT}. "
++        "Run it manually in ${CMAKE_CURRENT_SOURCE_DIR}.")
++    endif()
++  endif()
++  if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/include/ikd-Tree/ikd_Tree.cpp")
++    message(FATAL_ERROR
++      "include/ikd-Tree/ikd_Tree.cpp is missing and could not be fetched automatically "
++      "(no git checkout available). Run: git submodule update --init --recursive")
++  endif()
++endif()
++
 +ADD_COMPILE_OPTIONS(-std=c++17)
 +set(CMAKE_CXX_FLAGS "-std=c++17 -O3")