diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 000000000..248729816
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "freertps"]
+	path = freertps
+	url = https://github.com/acassis/freertps
diff --git a/freertps b/freertps
new file mode 160000
index 000000000..c2360dc19
--- /dev/null
+++ b/freertps
@@ -0,0 +1 @@
+Subproject commit c2360dc1986bf30ce7f508324c1e161c62e724a9