diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..6792f50
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "rrrobot_src/warehouse/src/ariac"]
+	path = rrrobot_src/warehouse/src/ariac
+	url = https://github.com/osrf/ariac-gazebo_ros_pkgs.git
diff --git a/rrrobot_src/warehouse/src/ariac b/rrrobot_src/warehouse/src/ariac
new file mode 160000
index 0000000..2b4816a
--- /dev/null
+++ b/rrrobot_src/warehouse/src/ariac
@@ -0,0 +1 @@
+Subproject commit 2b4816ac70353ed981ef06a6627b0265da7b1fbe