diff --git a/.gitmodules b/.gitmodules
index 433f502..88f667a 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,4 @@
 [submodule "device/rpi-bno055"]
 	path = device/rpi-bno055
 	url = https://github.com/H1rono/rpi-bno055
+	branch = ros2
diff --git a/device/rpi-bno055 b/device/rpi-bno055
index c6516b1..3109919 160000
--- a/device/rpi-bno055
+++ b/device/rpi-bno055
@@ -1 +1 @@
-Subproject commit c6516b1920a9d31582977eb1c31f03e68bcf6a5e
+Subproject commit 310991948c40350f8e27ff96ac55d34889c9392f