diff --git a/.gitmodules b/.gitmodules
index b8a0efa..bd0011a 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,4 +1,4 @@
 [submodule "include/ikd-Tree"]
 	path = include/ikd-Tree
-	url = https://github.com/hku-mars/ikd-Tree.git
+	url = git@github.com:hku-mars/ikd-Tree.git
 	branch = fast_lio
diff --git a/include/ikd-Tree b/include/ikd-Tree
index 7d61b56..d730b71 160000
--- a/include/ikd-Tree
+++ b/include/ikd-Tree
@@ -1 +1 @@
-Subproject commit 7d61b56764c99601c9c5840166da21d6a3b40cf9
+Subproject commit d730b71bf1ced2fc2bc0bbb47000f7287252f002
diff --git a/src/laserMapping.cpp b/src/laserMapping.cpp
index cd54acf..0f7fd94 100644
--- a/src/laserMapping.cpp
+++ b/src/laserMapping.cpp
@@ -115,7 +115,7 @@ PointCloudXYZI::Ptr _featsArray;
 pcl::VoxelGrid<PointType> downSizeFilterSurf;
 pcl::VoxelGrid<PointType> downSizeFilterMap;
 
-KD_TREE ikdtree;
+KD_TREE<PointType> ikdtree;
 
 V3F XAxisPoint_body(LIDAR_SP_LEN, 0.0, 0.0);
 V3F XAxisPoint_world(LIDAR_SP_LEN, 0.0, 0.0);