diff --git a/.gitmodules b/.gitmodules
index e69de29..6175db1 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -0,0 +1,7 @@
+[submodule "rrrobot_src/warehouse/src/ariac-gazebo_ros_pkgs"]
+	path = rrrobot_src/warehouse/src/ariac-gazebo_ros_pkgs
+	url = https://github.com/osrf/ariac-gazebo_ros_pkgs
+	branch = ariac-network-melodic
+[submodule "rrrobot_src/warehouse/src/ariac"]
+	path = rrrobot_src/warehouse/src/ariac
+	url = https://bitbucket.org/osrf/ariac.git
diff --git a/rrrobot_src/warehouse/src/ariac b/rrrobot_src/warehouse/src/ariac
new file mode 160000
index 0000000..0fb5984
--- /dev/null
+++ b/rrrobot_src/warehouse/src/ariac
@@ -0,0 +1 @@
+Subproject commit 0fb5984fb2e7f75606c29b4a3a412a8283e933a5
diff --git a/rrrobot_src/warehouse/src/ariac-gazebo_ros_pkgs b/rrrobot_src/warehouse/src/ariac-gazebo_ros_pkgs
new file mode 160000
index 0000000..2b4816a
--- /dev/null
+++ b/rrrobot_src/warehouse/src/ariac-gazebo_ros_pkgs
@@ -0,0 +1 @@
+Subproject commit 2b4816ac70353ed981ef06a6627b0265da7b1fbe