diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..59919fa
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,15 @@
+[submodule "src/Universal_Robots_ROS2_Description"]
+	path = src/Universal_Robots_ROS2_Description
+	url = https://github.com/username/Universal_Robots_ROS2_Description
+	branch = humble
+[submodule "src/serial"]
+	path = src/serial
+	url = https://github.com/tylerjw/serial.git
+	branch = ros2
+[submodule "src/Universal_Robots_ROS2_Driver"]
+	path = src/Universal_Robots_ROS2_Driver
+	url = https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git
+	branch = humble
+[submodule "src/ros2_robotiq_gripper"]
+	path = src/ros2_robotiq_gripper
+	url = https://github.com/PickNikRobotics/ros2_robotiq_gripper.git