diff --git a/README.md b/README.md
index f246a2c..adfa97a 100644
--- a/README.md
+++ b/README.md
@@ -33,6 +33,11 @@ Please refer to the [CI build script](.github/workflows/default.yml) for the mos
     $ sudo apt-get update
 
     $ sudo apt-get install wrp-sdk
+
+    # Install drivers for peripherals
+    $ sudo apt-get install -y software-properties-common 
+    $ sudo add-apt-repository ppa:lely/ppa
+    $ sudo apt-get update
     ```
 
     Please refer to [this page](https://docs.westonrobot.net/software/installation_guide.html) for more details of the installation steps.
@@ -49,6 +54,11 @@ Please refer to the [CI build script](.github/workflows/default.yml) for the mos
 
     Note: you can build and install the Livox-SDK2 at your preferred places other than "~/Livox-SDK2". And you can optionally remove the "Livox-SDK2" folder after installation.
 
+* Install ros-dev-tools **(Make sure you have ros2 installed first)**
+    ```bash
+    $ sudo apt install ros-dev-tools
+    ```
+
 * Install GTSAM
 
     ```bash
@@ -99,3 +109,19 @@ $ ros2 run rviz2 rviz2
 ```
 
 You can clone this repository to your computer and load the rviz configuration located at "src/sample_launch/config/rviz2.rviz".
+
+## Saving the map
+After you have finished mapping, you can save the map using lio_sam's save_map service. The service takes two arguments: resolution and destination.
+  * The resolution is the resolution of the map.
+  * The destination is the path to save the map. **NOTE: destination path is relative to the HOME folder.**
+ 
+For example, to save the map with a resolution of 0.0 to "~/Workspace/map/", you can run the following command
+```bash
+ros2 service call /lio_sam/save_map lio_sam/srv/SaveMap "{resolution: 0.0 , destination: "/Workspace/map/"}"
+```
+
+## Notes
+1. Depending on the specific hardware configurations, you may need to modify the sample launch files and configuration files to adapt to your setup.  
+   Take note of the below in particluar:
+   1. IP addresses of the lidar and the data ports it uses. (Configuration files used can be inferred from the [launch file](./src/sample_launch/launch/livox_mapping.launch.py)).
+   2. Device path of the IMU in the [launch file](./src/sample_launch/launch/livox_mapping.launch.py).
\ No newline at end of file
diff --git a/livox_mapping.repos b/livox_mapping.repos
index ddd452d..6d4ea01 100644
--- a/livox_mapping.repos
+++ b/livox_mapping.repos
@@ -2,12 +2,12 @@ repositories:
   lio_sam:
     type: git
     url: https://github.com/westonrobot/lio_sam.git
-    version: devel
+    version: 0a5ef15311f60ee219f6a4a6e77bcb2b5d012d5a
   livox_ros_driver2:
     type: git
     url: https://github.com/westonrobot/livox_ros_driver2.git
-    version: devel
+    version: 16a3738ad477a1eb1766c55f09d7415c8236516f
   wrp_ros2:
     type: git
     url: https://github.com/westonrobot/wrp_ros2.git
-    version: devel
+    version: 30431fd002b7e0a67c295bbf87ab1dc9d5cbb7ee