diff --git a/.gitignore b/.gitignore
index 5c15165..aabb679 100644
--- a/.gitignore
+++ b/.gitignore
@@ -105,3 +105,5 @@ AMENT_IGNORE
 
 .vscode
 .cache
+
+.idea
\ No newline at end of file
diff --git a/.gitmodules b/.gitmodules
index 7ad6dea..69a4d5c 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -2,7 +2,3 @@
 	path = src/rplidar_ros
 	url = https://github.com/Slamtec/rplidar_ros
 	branch = ros2
-[submodule "src/ros2_roboclaw_modelec"]
-	path = src/ros2_roboclaw_modelec
-	url = https://github.com/modelec/ros2_roboclaw_driver
-	branch = modelec
diff --git a/build.zsh b/build.zsh
new file mode 100644
index 0000000..0a4c491
--- /dev/null
+++ b/build.zsh
@@ -0,0 +1,3 @@
+colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
+
+source "install/setup.zsh"
diff --git a/src/ros2_roboclaw_modelec b/src/ros2_roboclaw_modelec
deleted file mode 160000
index 150a86f..0000000
--- a/src/ros2_roboclaw_modelec
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 150a86fd2bb1cafa62da5d5837f1df2ddbdf301c