diff --git a/.gitmodules b/.gitmodules
index adcd2342e..e9f917077 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -108,3 +108,7 @@
 	path = lib/soccer_ipm
 	url = ../../ros-sports/soccer_ipm.git
 	branch = rolling
+[submodule "lib/soccer_field_map_generator"]
+	path = lib/soccer_field_map_generator
+	url = ../../ros-sports/soccer_field_map_generator.git
+        branch = rolling 
diff --git a/lib/soccer_field_map_generator b/lib/soccer_field_map_generator
new file mode 160000
index 000000000..1685198a7
--- /dev/null
+++ b/lib/soccer_field_map_generator
@@ -0,0 +1 @@
+Subproject commit 1685198a7f6173067c10cc8885288c3a107432b7