diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..a90592d
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,4 @@
+/build/
+/install/
+/log/
+.idea
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
index dc9ea49..9de2865 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,4 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
+  <component name="Black">
+    <option name="sdkName" value="Python 3.10" />
+  </component>
   <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.10" project-jdk-type="Python SDK" />
 </project>
\ No newline at end of file
diff --git a/src/Universal_Robots_ROS2_Description b/src/Universal_Robots_ROS2_Description
new file mode 160000
index 0000000..c1c8ac9
--- /dev/null
+++ b/src/Universal_Robots_ROS2_Description
@@ -0,0 +1 @@
+Subproject commit c1c8ac92cd09e1b550837ad3566b427a957caf7c
diff --git a/src/Universal_Robots_ROS2_Driver b/src/Universal_Robots_ROS2_Driver
new file mode 160000
index 0000000..8bc95d7
--- /dev/null
+++ b/src/Universal_Robots_ROS2_Driver
@@ -0,0 +1 @@
+Subproject commit 8bc95d773f2476eeb18370a128b9f0c02ee98fd3
diff --git a/src/ros2_robotiq_gripper b/src/ros2_robotiq_gripper
new file mode 160000
index 0000000..25c6e0f
--- /dev/null
+++ b/src/ros2_robotiq_gripper
@@ -0,0 +1 @@
+Subproject commit 25c6e0f2b67c9b4ccf06b72078105b6154583ac9
diff --git a/src/serial b/src/serial
new file mode 160000
index 0000000..d8d1606
--- /dev/null
+++ b/src/serial
@@ -0,0 +1 @@
+Subproject commit d8d160678aa0b31cdf467c052b954fa287cc6cdf