diff --git a/.gitmodules b/.gitmodules
index cd4da51..5526bd7 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,3 @@
-[submodule "src/Groot"]
-	path = src/Groot
-	url = https://github.com/BehaviorTree/Groot.git
+[submodule "src/gz_ros2_control"]
+	path = src/gz_ros2_control
+	url = https://github.com/ros-controls/gz_ros2_control.git
diff --git a/gz_ros2_control b/gz_ros2_control
new file mode 160000
index 0000000..55dd768
--- /dev/null
+++ b/gz_ros2_control
@@ -0,0 +1 @@
+Subproject commit 55dd7680ff7234c825efa1dd0c104e5629448972
diff --git a/src/gz_ros2_control b/src/gz_ros2_control
index 6c4244d..55dd768 160000
--- a/src/gz_ros2_control
+++ b/src/gz_ros2_control
@@ -1 +1 @@
-Subproject commit 6c4244de09a53d2352d4db30d7574e8277611a73
+Subproject commit 55dd7680ff7234c825efa1dd0c104e5629448972