diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..69a4d5c
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,4 @@
+[submodule "src/rplidar_ros"]
+	path = src/rplidar_ros
+	url = https://github.com/Slamtec/rplidar_ros
+	branch = ros2
diff --git a/src/rplidar_ros b/src/rplidar_ros
new file mode 160000
index 0000000..1597018
--- /dev/null
+++ b/src/rplidar_ros
@@ -0,0 +1 @@
+Subproject commit 1597018104b3edc8f27428332b33af4ea766b1f9