diff --git a/.gitmodules b/.gitmodules
index 5607787..6038453 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,7 @@
 [submodule "src/serial"]
 	path = src/serial
 	url = https://github.com/joshnewans/serial.git
-[submodule "src/twist_mux"]
-	path = src/twist_mux
-	url = https://github.com/ros-teleop/twist_mux.git
+[submodule "src/m-explore-ros2"]
+	path = src/m-explore-ros2
+	url = https://github.com/robo-friends/m-explore-ros2.git
+	branch = feature/slam_toolbox_compat
diff --git a/src/m-explore-ros2 b/src/m-explore-ros2
new file mode 160000
index 0000000..81fdebe
--- /dev/null
+++ b/src/m-explore-ros2
@@ -0,0 +1 @@
+Subproject commit 81fdebe979ddf142065cc276989124437976978b