diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..8a5de8a
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "unitree_legged_sdk"]
+	path = unitree_legged_sdk
+	url = https://github.com/unitreerobotics/unitree_legged_sdk.git
diff --git a/unitree_legged_real/CMakeLists.txt b/unitree_legged_real/CMakeLists.txt
index d0f1fff..413cc42 100755
--- a/unitree_legged_real/CMakeLists.txt
+++ b/unitree_legged_real/CMakeLists.txt
@@ -1,12 +1,13 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(unitree_legged_real)
 
-add_compile_options(-std=c++11)
+set(CMAKE_CXX_FLAGS "-O3 -fPIC -std=c++11")
 
 find_package(catkin REQUIRED COMPONENTS
     roscpp
     geometry_msgs
     unitree_legged_msgs
+    unitree_legged_sdk
 )
 
 catkin_package()
@@ -18,32 +19,21 @@ else()
   set(ARCH arm64)
 endif()
 
-link_directories(${CMAKE_SOURCE_DIR}/unitree_legged_sdk/lib/cpp/${ARCH})
-
-set(EXTRA_LIBS -pthread libunitree_legged_sdk.so)
-
-set(CMAKE_CXX_FLAGS "-O3 -fPIC")
+set(EXTRA_LIBS -pthread ${unitree_legged_sdk_LIBRARIES})
 
 include_directories(
     include
     ${catkin_INCLUDE_DIRS}
-    ${CMAKE_SOURCE_DIR}/unitree_legged_sdk/include
+    ${unitree_legged_sdk_INCLUDE_DIRS}
 )
 
+add_executable(ros_example_walk src/exe/example_walk.cpp)
+target_link_libraries(ros_example_walk ${EXTRA_LIBS} ${catkin_LIBRARIES})
+add_dependencies(ros_example_walk ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
-
-
-
-
-
-
-add_executable(example_walk src/exe/example_walk.cpp)
-target_link_libraries(example_walk ${EXTRA_LIBS} ${catkin_LIBRARIES})
-add_dependencies(example_walk ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-add_executable(example_position src/exe/example_position.cpp)
-target_link_libraries(example_position ${EXTRA_LIBS} ${catkin_LIBRARIES})
-add_dependencies(example_position ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_executable(ros_example_position src/exe/example_position.cpp)
+target_link_libraries(ros_example_position ${EXTRA_LIBS} ${catkin_LIBRARIES})
+add_dependencies(ros_example_position ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 add_executable(state_sub src/exe/state_sub.cpp)
 target_link_libraries(state_sub ${EXTRA_LIBS} ${catkin_LIBRARIES})
diff --git a/unitree_legged_real/package.xml b/unitree_legged_real/package.xml
index 68c09e5..873eeac 100644
--- a/unitree_legged_real/package.xml
+++ b/unitree_legged_real/package.xml
@@ -15,6 +15,7 @@
   <exec_depend>roscpp</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <depend>unitree_legged_msgs</depend>
+  <depend>unitree_legged_sdk</depend>
   <depend>eigen</depend>
 
 </package>
\ No newline at end of file
diff --git a/unitree_legged_sdk b/unitree_legged_sdk
new file mode 160000
index 0000000..b3f3f42
--- /dev/null
+++ b/unitree_legged_sdk
@@ -0,0 +1 @@
+Subproject commit b3f3f4236709722b3719b5da4bdf2449b277bf86