diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000000000000000000000000000000000000..4dd366091a68eb319fc9f042acca3b959000c465
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,9 @@
+[submodule "src/franka_description"]
+	path = src/franka_description
+	url = git@git-st.inf.tu-dresden.de:ceti/ros/franka_description.git
+[submodule "src/panda_moveit_config"]
+	path = src/panda_moveit_config
+	url = git@git-st.inf.tu-dresden.de:ceti/ros/panda_moveit_config
+[submodule "src/panda_simulation"]
+	path = src/panda_simulation
+	url = git@git-st.inf.tu-dresden.de:ceti/ros/panda_simulation
diff --git a/src/franka_description b/src/franka_description
new file mode 160000
index 0000000000000000000000000000000000000000..ab47d8065a77370186ff41130b5d1c45254b047e
--- /dev/null
+++ b/src/franka_description
@@ -0,0 +1 @@
+Subproject commit ab47d8065a77370186ff41130b5d1c45254b047e
diff --git a/src/panda_moveit_config b/src/panda_moveit_config
new file mode 160000
index 0000000000000000000000000000000000000000..867b46b953e3da7a7261c12f8908be2a2fc73a3a
--- /dev/null
+++ b/src/panda_moveit_config
@@ -0,0 +1 @@
+Subproject commit 867b46b953e3da7a7261c12f8908be2a2fc73a3a
diff --git a/src/panda_simulation b/src/panda_simulation
new file mode 160000
index 0000000000000000000000000000000000000000..75ad12135bbb86078034eed06eefeec71b0531db
--- /dev/null
+++ b/src/panda_simulation
@@ -0,0 +1 @@
+Subproject commit 75ad12135bbb86078034eed06eefeec71b0531db