diff --git a/navigation_layer/orb_slam2/KeyFrameTrajectory.txt b/navigation_layer/orb_slam2/KeyFrameTrajectory.txt
new file mode 100644
index 0000000..366c382
--- /dev/null
+++ b/navigation_layer/orb_slam2/KeyFrameTrajectory.txt
@@ -0,0 +1,31 @@
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diff --git a/navigation_layer/orb_slam2/ORB_SLAM2 b/navigation_layer/orb_slam2/ORB_SLAM2
new file mode 160000
index 0000000..f2e6f51
--- /dev/null
+++ b/navigation_layer/orb_slam2/ORB_SLAM2
@@ -0,0 +1 @@
+Subproject commit f2e6f51cdc8d067655d90a78c06261378e07e8f3
diff --git a/navigation_layer/orb_slam2/Pangolin b/navigation_layer/orb_slam2/Pangolin
new file mode 160000
index 0000000..b6cecf4
--- /dev/null
+++ b/navigation_layer/orb_slam2/Pangolin
@@ -0,0 +1 @@
+Subproject commit b6cecf4e5faaa9cf6039f98c8d263cbc169f0b5d
diff --git a/navigation_layer/orb_slam2/cat/.catkin_workspace b/navigation_layer/orb_slam2/cat/.catkin_workspace
new file mode 100644
index 0000000..52fd97e
--- /dev/null
+++ b/navigation_layer/orb_slam2/cat/.catkin_workspace
@@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration
diff --git a/navigation_layer/orb_slam2/cat/src/CMakeLists.txt b/navigation_layer/orb_slam2/cat/src/CMakeLists.txt
new file mode 120000
index 0000000..581e61d
--- /dev/null
+++ b/navigation_layer/orb_slam2/cat/src/CMakeLists.txt
@@ -0,0 +1 @@
+/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
diff --git a/navigation_layer/orb_slam2/cat/src/usb_cam b/navigation_layer/orb_slam2/cat/src/usb_cam
new file mode 160000
index 0000000..0c3c7cb
--- /dev/null
+++ b/navigation_layer/orb_slam2/cat/src/usb_cam
@@ -0,0 +1 @@
+Subproject commit 0c3c7cb65ce5bcbd8033f728b0d701825c87f9a0