diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..f8c3a2f
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,7 @@
+[submodule "Controllers/Packages/robot_description"]
+	path = Controllers/Packages/robot_description
+	url = http://git.pnkx/HiepLM/robot_description.git
+	branch = main
+[submodule "pnkx_nav_core"]
+	path = pnkx_nav_core
+	url = https://git.pnkr.asia/HiepLM/pnkx_nav_core.git
diff --git a/Controllers/Packages/robot_description b/Controllers/Packages/robot_description
new file mode 160000
index 0000000..6309ce4
--- /dev/null
+++ b/Controllers/Packages/robot_description
@@ -0,0 +1 @@
+Subproject commit 6309ce44a5981c573e7eaaf45352e16fe0e847c3
diff --git a/pnkx_nav_core b/pnkx_nav_core
new file mode 160000
index 0000000..1de5a35
--- /dev/null
+++ b/pnkx_nav_core
@@ -0,0 +1 @@
+Subproject commit 1de5a35cc7985bc9890e8de2542f85d8ab90e2d7