diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 00000000..d99b55e9
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,6 @@
+[submodule "src/px4_msgs"]
+	path = src/px4_msgs
+	url = git@github.com:PX4/px4_msgs.git
+[submodule "src/px4_ros_com"]
+	path = src/px4_ros_com
+	url = git@github.com:PX4/px4_ros_com.git