diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
new file mode 100644
index 0000000000000000000000000000000000000000..b267acfe391a2789bbc8a65332930d6547cfd833
--- /dev/null
+++ b/.gitlab-ci.yml
@@ -0,0 +1,16 @@
+variables:
+  GIT_SUBMODULE_STRATEGY: recursive
+
+stages:
+  - build
+
+build-ws:
+  image: ros:melodic-ros-base-bionic
+  stage: build
+  script:
+    - apt-get update
+    - apt-get install -y ros-melodic-libfranka python-catkin-tools libeigen3-dev 
+    - echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
+    - source ~/.bashrc
+    - rosdep install -y --from-paths .
+    - catkin build
diff --git a/.gitmodules b/.gitmodules
index 4dd366091a68eb319fc9f042acca3b959000c465..1267c216efda9f43c7015bdc8ca8fb4691e32f68 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,9 +1,9 @@
 [submodule "src/franka_description"]
 	path = src/franka_description
-	url = git@git-st.inf.tu-dresden.de:ceti/ros/franka_description.git
+	url = ../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
+	url = ../panda_moveit_config.git
 [submodule "src/panda_simulation"]
 	path = src/panda_simulation
-	url = git@git-st.inf.tu-dresden.de:ceti/ros/panda_simulation
+	url = ../panda_simulation.git