diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..1b2674b
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "emergency_stop"]
+	path = emergency_stop
+	url = https://github.com/nandantumu/emergency_stop
diff --git a/emergency_stop b/emergency_stop
new file mode 160000
index 0000000..6106472
--- /dev/null
+++ b/emergency_stop
@@ -0,0 +1 @@
+Subproject commit 610647285c9c1f7f776bb672ad72e0bdedca56d9