diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 00000000..a7c3ea4d
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,6 @@
+[submodule "dependencies/tf2_2d"]
+	path = dependencies/tf2_2d
+	url = https://github.com/locusrobotics/tf2_2d.git
+[submodule "dependencies/covariance_geometry_ros"]
+	path = dependencies/covariance_geometry_ros
+	url = https://github.com/giafranchini/covariance_geometry_ros.git
diff --git a/dependencies/covariance_geometry_ros b/dependencies/covariance_geometry_ros
new file mode 160000
index 00000000..182993ba
--- /dev/null
+++ b/dependencies/covariance_geometry_ros
@@ -0,0 +1 @@
+Subproject commit 182993bae25f64ed45c98b32cea13d851ae38fc3
diff --git a/dependencies/tf2_2d b/dependencies/tf2_2d
new file mode 160000
index 00000000..41b3d5b0
--- /dev/null
+++ b/dependencies/tf2_2d
@@ -0,0 +1 @@
+Subproject commit 41b3d5b058a6ef89d6b3ed264d0c658be0e6691c
diff --git a/fuse.repos b/fuse.repos
deleted file mode 100644
index d569f4ec..00000000
--- a/fuse.repos
+++ /dev/null
@@ -1,9 +0,0 @@
-repositories:
-  locusrobotics/tf2_2d:
-    type: git
-    url: https://github.com/locusrobotics/tf2_2d.git
-    version: rolling
-  covariance_geometry_ros:
-    type: git
-    url: https://github.com/giafranchini/covariance_geometry_ros.git
-    version: iron