diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000000000000000000000000000000000000..e33c15f1c4fc93c0793d1e974fc2320deadf6e53
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,9 @@
+[submodule "rq_interfaces"]
+	path = rq_interfaces
+	url = https://mygit.th-deg.de/roboct/robo_quality/rq_interfaces
+[submodule "rq_trajectory"]
+	path = rq_trajectory
+	url = https://mygit.th-deg.de/roboct/robo_quality/rq_trajectory
+[submodule "rq_ddetection"]
+	path = rq_ddetection
+	url = https://mygit.th-deg.de/roboct/robo_quality/rq_ddetection
diff --git a/rq_ddetection b/rq_ddetection
new file mode 160000
index 0000000000000000000000000000000000000000..6435eadddb3f49cfb21712102431aa298b88ae8e
--- /dev/null
+++ b/rq_ddetection
@@ -0,0 +1 @@
+Subproject commit 6435eadddb3f49cfb21712102431aa298b88ae8e
diff --git a/rq_interfaces b/rq_interfaces
new file mode 160000
index 0000000000000000000000000000000000000000..c5ce99e79e64973cb5f586035bad4f78cdbdb0c3
--- /dev/null
+++ b/rq_interfaces
@@ -0,0 +1 @@
+Subproject commit c5ce99e79e64973cb5f586035bad4f78cdbdb0c3
diff --git a/rq_trajectory b/rq_trajectory
new file mode 160000
index 0000000000000000000000000000000000000000..8a2c8384a1344efb88fee3cbe57264278b5d2145
--- /dev/null
+++ b/rq_trajectory
@@ -0,0 +1 @@
+Subproject commit 8a2c8384a1344efb88fee3cbe57264278b5d2145