diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..d1076f9
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,4 @@
+[submodule "src/witmotion_ros"]
+	path = src/witmotion_ros
+	url = https://github.com/ElettraSciComp/witmotion_IMU_ros.git
+	branch = ros2
diff --git a/src/witmotion_ros b/src/witmotion_ros
new file mode 160000
index 0000000..b5caf71
--- /dev/null
+++ b/src/witmotion_ros
@@ -0,0 +1 @@
+Subproject commit b5caf714fbe31d501ae8671df0b66450d2c442a7