diff --git a/.gitignore b/.gitignore
index df1fde924..27dd83813 100644
--- a/.gitignore
+++ b/.gitignore
@@ -10,4 +10,9 @@
 **/log/
 **/cmake-build-*/
 
+# ignore all data files
+**/*.gz
+**/*.npz
+**/*.npy
+
 **/__pycache__/
diff --git a/.gitmodules b/.gitmodules
index 45e2f1738..c719e6ac5 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -9,8 +9,13 @@
 	path = driverless_ws/src/zed-ros2-wrapper
 	url = https://github.com/stereolabs/zed-ros2-wrapper.git
 [submodule "driverless_ws/src/eufs_msgs"]
-	path = driverless_ws/src/eufs_msgs
-	url = https://gitlab.com/eufs/eufs_msgs.git
-[submodule "driverless_ws/src/vision_opencv"]
-	path = driverless_ws/src/vision_opencv
-	url = https://github.com/ros-perception/vision_opencv.git
+  path = driverless_ws/src/eufs_msgs
+  url = https://gitlab.com/eufs/eufs_msgs.git
+
+[submodule "driverless_ws/src/HesaiLidar_ROS_2.0"]
+  path = driverless_ws/src/HesaiLidar_ROS_2.0
+  url = https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0.git
+
+[submodule "driverless_ws/src/zed-ros2-wrapper"]
+  path = driverless_ws/src/zed-ros2-wrapper
+  url = https://github.com/stereolabs/zed-ros2-wrapper.git