diff --git a/.gitmodules b/.gitmodules
index e759f17f3..6a1c0d60c 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,6 @@
 [submodule "external/rj-ros-common"]
 	path = external/rj-ros-common
 	url = https://github.com/RoboJackets/rj-ros-common
+[submodule "external/velodyne"]
+	path = external/velodyne
+	url = https://github.com/ros-drivers/velodyne.git
diff --git a/external/velodyne b/external/velodyne
new file mode 160000
index 000000000..720829573
--- /dev/null
+++ b/external/velodyne
@@ -0,0 +1 @@
+Subproject commit 720829573076bf7d7edd4b1de344924fad909049
diff --git a/igvc_platform/launch/velodyne_lidar.launch b/igvc_platform/launch/velodyne_lidar.launch
index 9b0c681fc..4130de72a 100644
--- a/igvc_platform/launch/velodyne_lidar.launch
+++ b/igvc_platform/launch/velodyne_lidar.launch
@@ -23,6 +23,7 @@
   <arg name="cut_angle" default="-0.01" />
   <arg name="laserscan_ring" default="-1" />
   <arg name="laserscan_resolution" default="0.007" />
+  <arg name="organize_cloud" default="false"/>
 
   <!-- start nodelet manager and driver nodelets -->
   <include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
@@ -45,6 +46,7 @@
     <arg name="manager" value="$(arg manager)" />
     <arg name="max_range" value="$(arg max_range)"/>
     <arg name="min_range" value="$(arg min_range)"/>
+    <arg name="organize_cloud" value="$(arg organize_cloud)"/>
   </include>
 
   <!-- start laserscan nodelet -->