diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..7cf9040
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,6 @@
+[submodule "src/reflex-ros-pkg"]
+	path = src/reflex-ros-pkg
+	url = https://github.com/rishabhagarwal880/reflex-ros-pkg.git
+[submodule "src/takktile_ros"]
+	path = src/takktile_ros
+	url = https://github.com/rishabhagarwal880/takktile_ros.git
diff --git a/src/reflex-ros-pkg b/src/reflex-ros-pkg
new file mode 160000
index 0000000..c18f981
--- /dev/null
+++ b/src/reflex-ros-pkg
@@ -0,0 +1 @@
+Subproject commit c18f9819b0e19e55f4ffd3e98a683d922ea79347
diff --git a/src/takktile_ros b/src/takktile_ros
new file mode 160000
index 0000000..a6fcff4
--- /dev/null
+++ b/src/takktile_ros
@@ -0,0 +1 @@
+Subproject commit a6fcff44c7e7dc1e09836c63513785689dbe94b2