diff --git a/nvim/dot-config/nvim/lazy-lock.json b/nvim/dot-config/nvim/lazy-lock.json
index 5630f2b..a56523c 100644
--- a/nvim/dot-config/nvim/lazy-lock.json
+++ b/nvim/dot-config/nvim/lazy-lock.json
@@ -1,6 +1,6 @@
 {
   "Comment.nvim": { "branch": "master", "commit": "e30b7f2008e52442154b66f7c519bfd2f1e32acb" },
-  "actions-preview.nvim": { "branch": "master", "commit": "cb938c25edaac38d362555f19244a9cb85d561e8" },
+  "actions-preview.nvim": { "branch": "master", "commit": "2b604b2e8e662c03b716436f6ffebcb19663e66a" },
   "blink.cmp": { "branch": "main", "commit": "78336bc89ee5365633bcf754d93df01678b5c08f" },
   "bufferline.nvim": { "branch": "main", "commit": "655133c3b4c3e5e05ec549b9f8cc2894ac6f51b3" },
   "bufresize.nvim": { "branch": "master", "commit": "3b19527ab936d6910484dcc20fb59bdb12322d8b" },
@@ -19,7 +19,7 @@
   "lazy.nvim": { "branch": "main", "commit": "306a05526ada86a7b30af95c5cc81ffba93fef97" },
   "lazydev.nvim": { "branch": "main", "commit": "ff2cbcba459b637ec3fd165a2be59b7bbaeedf0d" },
   "lualine.nvim": { "branch": "master", "commit": "f5d2a8570f8b736ddb9bb4be504355bcd6e15ec8" },
-  "mason-lspconfig.nvim": { "branch": "main", "commit": "63a3c6a80538de1003373a619e29aeda27809ad3" },
+  "mason-lspconfig.nvim": { "branch": "main", "commit": "0a3b42c3e503df87aef6d6513e13148381495c3a" },
   "mason-tool-installer.nvim": { "branch": "main", "commit": "443f1ef8b5e6bf47045cb2217b6f748a223cf7dc" },
   "mason.nvim": { "branch": "main", "commit": "b03fb0f20bc1d43daf558cda981a2be22e73ac42" },
   "multicolumn.nvim": { "branch": "master", "commit": "a363bdfd422abf26256f343dac4df183031f8e94" },
@@ -28,24 +28,24 @@
   "nvim-colorizer.lua": { "branch": "master", "commit": "5cfe7fffbd01e17b3c1e14af85d5febdef88bd8c" },
   "nvim-dap": { "branch": "master", "commit": "b0f983507e3702f073bfe1516846e58b56d4e42f" },
   "nvim-dap-virtual-text": { "branch": "master", "commit": "fbdb48c2ed45f4a8293d0d483f7730d24467ccb6" },
-  "nvim-lspconfig": { "branch": "master", "commit": "c588db330592fa477a70d2fee6ba20a57194bdc3" },
+  "nvim-lspconfig": { "branch": "master", "commit": "cb5bc0b2b35a6d513e3298d285db81453e791f4f" },
   "nvim-surround": { "branch": "main", "commit": "9291040de8cd8a4439eb64c441e8d5d2bf884a5a" },
-  "nvim-treesitter": { "branch": "master", "commit": "cf12346a3414fa1b06af75c79faebe7f76df080a" },
-  "nvim-treesitter-textobjects": { "branch": "master", "commit": "5ca4aaa6efdcc59be46b95a3e876300cfead05ef" },
+  "nvim-treesitter": { "branch": "main", "commit": "4916d6592ede8c07973490d9322f187e07dfefac" },
+  "nvim-treesitter-textobjects": { "branch": "main", "commit": "851e865342e5a4cb1ae23d31caf6e991e1c99f1e" },
   "nvim-ts-autotag": { "branch": "main", "commit": "8e1c0a389f20bf7f5b0dd0e00306c1247bda2595" },
   "peek.nvim": { "branch": "master", "commit": "5820d937d5414baea5f586dc2a3d912a74636e5b" },
-  "plenary.nvim": { "branch": "master", "commit": "b9fd5226c2f76c951fc8ed5923d85e4de065e509" },
+  "plenary.nvim": { "branch": "master", "commit": "74b06c6c75e4eeb3108ec01852001636d85a932b" },
   "ros-nvim": { "branch": "main", "commit": "1ad64cd3a1e144dfea67890845f9da2e82d96900" },
   "schema-companion.nvim": { "branch": "main", "commit": "bcccfe46a1796f86b81dc3be6ab80ece3664d3b2" },
-  "schemastore.nvim": { "branch": "main", "commit": "35d19ffb25c9cf160f515360e9d8286cdd2c3d4f" },
+  "schemastore.nvim": { "branch": "main", "commit": "f5df9e70403b5d4c0642702a64534f04f3d71d03" },
   "scrollEOF.nvim": { "branch": "master", "commit": "e462b9a07b8166c3e8011f1dcbc6bf68b67cd8d7" },
   "smart-open.nvim": { "branch": "0.3.x", "commit": "918c97cac0c33f7a116a822df144bc5bbefa4490" },
-  "smart-splits.nvim": { "branch": "master", "commit": "0bd02161ee5c5378bf4133fcedf53d1fc4179e1d" },
+  "smart-splits.nvim": { "branch": "master", "commit": "09796a7ad0776c92518e0afae8688ef8d7f720e6" },
   "snacks.nvim": { "branch": "main", "commit": "ad9ede6a9cddf16cedbd31b8932d6dcdee9b716e" },
   "sqlite.lua": { "branch": "master", "commit": "50092d60feb242602d7578398c6eb53b4a8ffe7b" },
   "telescope-fzf-native.nvim": { "branch": "main", "commit": "6fea601bd2b694c6f2ae08a6c6fab14930c60e2c" },
   "telescope-ui-select.nvim": { "branch": "master", "commit": "6e51d7da30bd139a6950adf2a47fda6df9fa06d2" },
-  "telescope.nvim": { "branch": "master", "commit": "48d2656e54d3e3953ae647153ccdaffa50d4d76b" },
+  "telescope.nvim": { "branch": "master", "commit": "f7c673b8e46e8f233ff581d3624a517d33a7e264" },
   "todo-comments.nvim": { "branch": "main", "commit": "31e3c38ce9b29781e4422fc0322eb0a21f4e8668" },
   "trouble.nvim": { "branch": "main", "commit": "bd67efe408d4816e25e8491cc5ad4088e708a69a" },
   "ultimate-autopair.nvim": { "branch": "v0.6", "commit": "6b58234de921437836efe27714b2026ed2ee235a" },
diff --git a/nvim/dot-config/nvim/lua/plugins/nvim-treesitter-textobjects.lua b/nvim/dot-config/nvim/lua/plugins/nvim-treesitter-textobjects.lua
new file mode 100644
index 0000000..a4a174e
--- /dev/null
+++ b/nvim/dot-config/nvim/lua/plugins/nvim-treesitter-textobjects.lua
@@ -0,0 +1,40 @@
+-- https://github.com/nvim-treesitter/nvim-treesitter-textobjects
+--- @module "lazy"
+--- @type LazySpec
+return {
+	"nvim-treesitter/nvim-treesitter-textobjects",
+	branch = "main",
+	opts = {
+		select = {
+			lookahead = true,
+			include_surrounding_whitespace = true,
+		},
+	},
+	init = function()
+		vim.keymap.set({ "x", "o" }, "aa", function()
+			require("nvim-treesitter-textobjects.select").select_textobject("textobjects", "@parameter.outer")
+		end)
+		vim.keymap.set({ "x", "o" }, "ia", function()
+			require("nvim-treesitter-textobjects.select").select_textobject("@parameter.inner", "textobjects")
+		end)
+		vim.keymap.set({ "x", "o" }, "af", function()
+			require("nvim-treesitter-textobjects.select").select_textobject("@function.outer", "textobjects")
+		end)
+		vim.keymap.set({ "x", "o" }, "if", function()
+			require("nvim-treesitter-textobjects.select").select_textobject("@function.inner", "textobjects")
+		end)
+		-- vim.keymap.set({ "x", "o" }, "ac", function()
+		-- 	require("nvim-treesitter-textobjects.select").select_textobject("@class.outer", "textobjects")
+		-- end)
+		-- vim.keymap.set({ "x", "o" }, "ic", function()
+		-- 	require("nvim-treesitter-textobjects.select").select_textobject("@class.inner", "textobjects")
+		-- end)
+
+		vim.keymap.set("n", "<leader>a", function()
+			require("nvim-treesitter-textobjects.swap").swap_next("@parameter.inner")
+		end)
+		vim.keymap.set("n", "<leader>A", function()
+			require("nvim-treesitter-textobjects.swap").swap_previous("@parameter.inner")
+		end)
+	end,
+}
diff --git a/nvim/dot-config/nvim/lua/plugins/nvim-ts-autotag.lua b/nvim/dot-config/nvim/lua/plugins/nvim-ts-autotag.lua
new file mode 100644
index 0000000..636fde5
--- /dev/null
+++ b/nvim/dot-config/nvim/lua/plugins/nvim-ts-autotag.lua
@@ -0,0 +1,6 @@
+-- https://github.com/windwp/nvim-ts-autotag
+--- @module "lazy"
+--- @type LazySpec
+return {
+	"windwp/nvim-ts-autotag",
+}
diff --git a/nvim/dot-config/nvim/lua/plugins/ros.lua b/nvim/dot-config/nvim/lua/plugins/ros.lua
index 6cad894..37ec08d 100644
--- a/nvim/dot-config/nvim/lua/plugins/ros.lua
+++ b/nvim/dot-config/nvim/lua/plugins/ros.lua
@@ -2,6 +2,8 @@
 --- @module "lazy"
 --- @type LazySpec
 return {
+	-- Issues with nvim 0.12
+	enabled = false,
 	"tadachs/ros-nvim",
 	event = { "BufRead", "BufNewFile" },
 	opts = {
diff --git a/nvim/dot-config/nvim/lua/plugins/treesitter.lua b/nvim/dot-config/nvim/lua/plugins/treesitter.lua
index 0ad2c76..000ce9f 100644
--- a/nvim/dot-config/nvim/lua/plugins/treesitter.lua
+++ b/nvim/dot-config/nvim/lua/plugins/treesitter.lua
@@ -4,22 +4,16 @@
 return {
 	{
 		"nvim-treesitter/nvim-treesitter",
-		dependencies = {
-			{ "nvim-treesitter/nvim-treesitter-textobjects", branch = "master" },
-			{ "windwp/nvim-ts-autotag", opts = {} },
-		},
 		lazy = false,
-		branch = "master",
+		branch = "main",
 		build = ":TSUpdate",
-		main = "nvim-treesitter.configs",
+		-- main = "nvim-treesitter.configs",
 		init = function()
 			vim.wo.foldmethod = "expr"
 			vim.wo.foldexpr = "v:lua.vim.treesitter.foldexpr()"
-		end,
-		--- @module "nvim-treesitter"
-		--- @type TSConfig
-		opts = {
-			ensure_installed = {
+			vim.bo.indentexpr = "v:lua.require'nvim-treesitter'.indentexpr()"
+
+			require("nvim-treesitter").install({
 				"c",
 				"cpp",
 				"go",
@@ -38,66 +32,7 @@ return {
 				"cmake",
 				"json",
 				"yaml",
-			},
-			auto_install = true,
-
-			highlight = { enable = true },
-			indent = { enable = true },
-			incremental_selection = {
-				enable = true,
-				keymaps = {
-					init_selection = "<M-o>",
-					node_incremental = "<M-o>",
-					node_decremental = "<M-i>",
-				},
-			},
-			textobjects = {
-				select = {
-					enable = true,
-					lookahead = true,
-					keymaps = {
-						["aa"] = "@parameter.outer",
-						["ia"] = "@parameter.inner",
-						["af"] = "@function.outer",
-						["if"] = "@function.inner",
-						-- ["ac"] = "@class.outer",
-						-- ["ic"] = "@class.inner",
-					},
-				},
-				move = {
-					enable = true,
-					set_jumps = true,
-					goto_next_start = {
-						["]a"] = "@parameter.inner",
-						["]f"] = "@function.outer",
-						["]c"] = "@class.outer",
-					},
-					goto_next_end = {
-						["]A"] = "@parameter.inner",
-						["]F"] = "@function.outer",
-						["]c"] = "@class.outer",
-					},
-					goto_previous_start = {
-						["[a"] = "@parameter.inner",
-						["[f"] = "@function.outer",
-						["[c"] = "@class.outer",
-					},
-					goto_previous_end = {
-						["[A"] = "@parameter.inner",
-						["[F"] = "@function.outer",
-						["[c"] = "@class.outer",
-					},
-				},
-				swap = {
-					enable = true,
-					swap_next = {
-						["<leader>a"] = "@parameter.inner",
-					},
-					swap_previous = {
-						["<leader>A"] = "@parameter.inner",
-					},
-				},
-			},
-		},
+			})
+		end,
 	},
 }