diff --git a/.gitmodules b/.gitmodules
index b94bfb0e..af895f06 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,19 @@
 [submodule "isaac_msgs"]
 	path = communications/isaac_msgs
 	url = https://github.com/nasa/isaac_msgs.git
+[submodule "astrobee/survey_manager/survey_planner/src/ros2_planning_system"]
+	path = astrobee/survey_manager/survey_planner/src/ros2_planning_system
+	url = https://github.com/traclabs/ros2_planning_system.git
+	branch = noetic-devel
+[submodule "astrobee/survey_manager/survey_planner/src/ros1_lifecycle"]
+	path = astrobee/survey_manager/survey_planner/src/ros1_lifecycle
+	url = https://github.com/traclabs/ros1_lifecycle
+	branch = noetic-devel
+[submodule "ros1_lifecycle"]
+	path = ros1_lifecycle
+	url = https://github.com/traclabs/ros1_lifecycle
+	branch = noetic-devel
+[submodule "ros2_planning_system"]
+	path = ros2_planning_system
+	url = https://github.com/traclabs/ros2_planning_system.git
+	branch = noetic-devel
diff --git a/astrobee/survey_manager/survey_planner/readme.md b/astrobee/survey_manager/survey_planner/readme.md
index 2c7cc670..5e47860a 100644
--- a/astrobee/survey_manager/survey_planner/readme.md
+++ b/astrobee/survey_manager/survey_planner/readme.md
@@ -1,3 +1,5 @@
 \page survey_planner Survey Planner
 
-Planning and scheduling of queued survey actions.
\ No newline at end of file
+Planning and scheduling of queued survey actions using Playsys2 for PDPL solutions and behavior trees for execution.
+
+Based on [preliminary work](https://github.com/traclabs/astrobee_task_planning_ws) by [Ana](https://github.com/ana-GT) at [Traclabs](https://traclabs.com).
diff --git a/ros1_lifecycle b/ros1_lifecycle
new file mode 160000
index 00000000..15a50352
--- /dev/null
+++ b/ros1_lifecycle
@@ -0,0 +1 @@
+Subproject commit 15a50352f9d522c7815ecedaa2b77b6f99ecdb31
diff --git a/ros2_planning_system b/ros2_planning_system
new file mode 160000
index 00000000..8ac0565e
--- /dev/null
+++ b/ros2_planning_system
@@ -0,0 +1 @@
+Subproject commit 8ac0565e2ffad66c1c8c87bff913fbb379e64ba4
diff --git a/scripts/setup/packages_focal.lst b/scripts/setup/packages_focal.lst
index 87954901..d467ade6 100644
--- a/scripts/setup/packages_focal.lst
+++ b/scripts/setup/packages_focal.lst
@@ -4,5 +4,6 @@ python3-osrf-pycommon
 python3-rosdep
 ros-noetic-eigen-conversions
 ros-noetic-pcl-ros
+ros-noetic-behaviortree-cpp-v3
 libmnl-dev
 libproj-dev