diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 00000000..d43198d7
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,21 @@
+[submodule "src/picknik_accessories"]
+	path = src/picknik_accessories
+	url = https://github.com/PickNikRobotics/picknik_accessories.git
+[submodule "src/moveit_pro_ur_configs"]
+	path = src/moveit_pro_ur_configs
+	url = https://github.com/PickNikRobotics/moveit_pro_ur_configs.git
+[submodule "src/fanuc_sim"]
+	path = src/fanuc_sim
+	url = https://github.com/PickNikRobotics/fanuc_sim.git
+[submodule "src/moveit_pro_mobile_manipulation"]
+	path = src/moveit_pro_mobile_manipulation
+	url = https://github.com/PickNikRobotics/moveit_pro_mobile_manipulation.git
+[submodule "src/moveit_pro_kinova_configs"]
+	path = src/moveit_pro_kinova_configs
+	url = https://github.com/PickNikRobotics/moveit_pro_kinova_configs.git
+[submodule "src/--force"]
+	path = src/--force
+	url = https://github.com/PickNikRobotics/lab_sim.git
+[submodule "src/lab_sim"]
+	path = src/lab_sim
+	url = https://github.com/PickNikRobotics/lab_sim.git
diff --git a/src/fanuc_sim b/src/fanuc_sim
new file mode 160000
index 00000000..d5df36dd
--- /dev/null
+++ b/src/fanuc_sim
@@ -0,0 +1 @@
+Subproject commit d5df36dd5c3fd2205d63da079fd3c09c2041c7d3
diff --git a/src/lab_sim b/src/lab_sim
new file mode 160000
index 00000000..83cb7e9e
--- /dev/null
+++ b/src/lab_sim
@@ -0,0 +1 @@
+Subproject commit 83cb7e9eaef1d948abf0a6bd697f5ceff2124243
diff --git a/src/moveit_pro_kinova_configs b/src/moveit_pro_kinova_configs
new file mode 160000
index 00000000..2032c245
--- /dev/null
+++ b/src/moveit_pro_kinova_configs
@@ -0,0 +1 @@
+Subproject commit 2032c245595b0bc6a76991f7a074700a8d289c1e
diff --git a/src/moveit_pro_mobile_manipulation b/src/moveit_pro_mobile_manipulation
new file mode 160000
index 00000000..e8f55f39
--- /dev/null
+++ b/src/moveit_pro_mobile_manipulation
@@ -0,0 +1 @@
+Subproject commit e8f55f393209db0798486392c2667f8efca8bbb1
diff --git a/src/moveit_pro_ur_configs b/src/moveit_pro_ur_configs
new file mode 160000
index 00000000..d7dc0d12
--- /dev/null
+++ b/src/moveit_pro_ur_configs
@@ -0,0 +1 @@
+Subproject commit d7dc0d1225f4abb3b6a62860aebb334118204fb9
diff --git a/src/picknik_accessories b/src/picknik_accessories
new file mode 160000
index 00000000..04dfbf5f
--- /dev/null
+++ b/src/picknik_accessories
@@ -0,0 +1 @@
+Subproject commit 04dfbf5f044c33bd898dc6301dfa3d4a2f3c76b2