diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..b00da65
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "unitree_ros_to_real"]
+	path = unitree_ros_to_real
+	url = https://github.com/unitreerobotics/unitree_ros_to_real.git
diff --git a/unitree_ros_to_real b/unitree_ros_to_real
new file mode 160000
index 0000000..1f6498d
--- /dev/null
+++ b/unitree_ros_to_real
@@ -0,0 +1 @@
+Subproject commit 1f6498dc5aced510341efe71146d5902fc00151c