diff --git a/.gitmodules b/.gitmodules
index 3da1a55d8ffc2aa4944c075f41b6d528a57d2ea6..d0ea17585cb7224eff6eb426ad8de440de286f1d 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -30,3 +30,7 @@
 	path = robotic-controller/src/franka_gripper
 	url = ../packages/hardware-specific-packages/franka_gripper
 	branch = noetic/main
+[submodule "robotic-controller/src/franka_description"]
+	path = robotic-controller/src/franka_description
+	url = ../packages/hardware-specific-packages/franka_description
+	branch = noetic/main
diff --git a/robotic-controller/src/franka_description b/robotic-controller/src/franka_description
new file mode 160000
index 0000000000000000000000000000000000000000..e5acbe3888f7bc844a782bc490e5e0a21da99524
--- /dev/null
+++ b/robotic-controller/src/franka_description
@@ -0,0 +1 @@
+Subproject commit e5acbe3888f7bc844a782bc490e5e0a21da99524