diff --git a/.gitmodules b/.gitmodules
deleted file mode 100644
index d11c9ba..0000000
--- a/.gitmodules
+++ /dev/null
@@ -1,6 +0,0 @@
-[submodule "util/llh_converter"]
-	path = util/llh_converter
-	url = https://github.com/MapIV/llh_converter.git
-[submodule "util/nmea_converter"]
-	path = util/nmea_converter
-	url = https://github.com/MapIV/nmea_converter.git
diff --git a/README.md b/README.md
index 990c8dc..a00d20f 100644
--- a/README.md
+++ b/README.md
@@ -14,8 +14,10 @@ roslaunch gnss_compass gnss_compass.launch
 
 ```
 cd ~/catkin_ws/src
-git clone --recursive https://github.com/MapIV/gnss_compass_ros.git
-cd ..
+git clone https://github.com/MapIV/gnss_compass_ros.git
+cd gnss_compass_ros
+vcs import . < gnss_compass.repos
+cd ../..
 rosdep install --from-paths src --ignore-src -r -y
 catkin_make -DCMAKE_BUILD_TYPE=Release
 ```
diff --git a/gnss_compass.repos b/gnss_compass.repos
new file mode 100644
index 0000000..77c01da
--- /dev/null
+++ b/gnss_compass.repos
@@ -0,0 +1,9 @@
+repositories:
+  util/llh_converter:
+    type: git
+    url: https://github.com/MapIV/llh_converter.git
+    version: main
+  util/nmea_converter:
+    type: git
+    url: https://github.com/MapIV/nmea_converter.git
+    version: ros1
\ No newline at end of file
diff --git a/util/.gitkeep b/util/.gitkeep
new file mode 100644
index 0000000..e69de29
diff --git a/util/llh_converter b/util/llh_converter
deleted file mode 160000
index a2c4c78..0000000
--- a/util/llh_converter
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit a2c4c788c84fa99d22a2bdbaa4e33e5e0558fd53
diff --git a/util/nmea_converter b/util/nmea_converter
deleted file mode 160000
index cbaa3b9..0000000
--- a/util/nmea_converter
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit cbaa3b999ec7c56909ec89deafabf9942b1f2cfa