diff --git a/WORKSPACE b/WORKSPACE
index 219a81919dd68d98476ab6f6502cb075439e113e..e1e0d1e479fe1d2ec76d3ed159bc7b2085106c30 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -155,19 +155,6 @@ new_local_repository(
 #    path = "/opt/apollo/pkgs/caffe/include",
 # )
 
-new_local_repository(
-    name = "qpOASES",
-    build_file = "third_party/qpOASES.BUILD",
-    path = "/opt/apollo/sysroot/include",
-)
-
-# OSQP
-new_local_repository(
-    name = "osqp",
-    build_file = "third_party/osqp.BUILD",
-    path = "/opt/apollo/sysroot/include",
-)
-
 # ipopt
 new_local_repository(
     name = "ipopt",
diff --git a/third_party/osqp/BUILD b/third_party/osqp/BUILD
new file mode 100644
index 0000000000000000000000000000000000000000..67cb1e21da12a475315a133ea712fcc211ffcd08
--- /dev/null
+++ b/third_party/osqp/BUILD
@@ -0,0 +1,3 @@
+package(
+    default_visibility = ["//visibility:public"],
+)
diff --git a/third_party/osqp.BUILD b/third_party/osqp/osqp.BUILD
similarity index 100%
rename from third_party/osqp.BUILD
rename to third_party/osqp/osqp.BUILD
diff --git a/third_party/osqp/workspace.bzl b/third_party/osqp/workspace.bzl
new file mode 100644
index 0000000000000000000000000000000000000000..0097007f4082bcbded3ae53b341629644f04b1ab
--- /dev/null
+++ b/third_party/osqp/workspace.bzl
@@ -0,0 +1,13 @@
+"""Loads the osqp library"""
+
+# Sanitize a dependency so that it works correctly from code that includes
+# Apollo as a submodule.
+def clean_dep(dep):
+    return str(Label(dep))
+
+def repo():
+    native.new_local_repository(
+        name = "osqp",
+        build_file = clean_dep("//third_party/osqp:osqp.BUILD"),
+        path = "/opt/apollo/sysroot/include",
+    )
diff --git a/third_party/qpOASES/BUILD b/third_party/qpOASES/BUILD
new file mode 100644
index 0000000000000000000000000000000000000000..67cb1e21da12a475315a133ea712fcc211ffcd08
--- /dev/null
+++ b/third_party/qpOASES/BUILD
@@ -0,0 +1,3 @@
+package(
+    default_visibility = ["//visibility:public"],
+)
diff --git a/third_party/qpOASES.BUILD b/third_party/qpOASES/qpOASES.BUILD
similarity index 100%
rename from third_party/qpOASES.BUILD
rename to third_party/qpOASES/qpOASES.BUILD
diff --git a/third_party/qpOASES/workspace.bzl b/third_party/qpOASES/workspace.bzl
new file mode 100644
index 0000000000000000000000000000000000000000..7cc0e48a88b2ec1aaaf1277398200f0e4e2b9c1b
--- /dev/null
+++ b/third_party/qpOASES/workspace.bzl
@@ -0,0 +1,13 @@
+"""Loads the qpOASES library"""
+
+# Sanitize a dependency so that it works correctly from code that includes
+# Apollo as a submodule.
+def clean_dep(dep):
+    return str(Label(dep))
+
+def repo():
+    native.new_local_repository(
+        name = "qpOASES",
+        build_file = clean_dep("//third_party/qpOASES:qpOASES.BUILD"),
+        path = "/opt/apollo/sysroot/include",
+    )
diff --git a/tools/workspace.bzl b/tools/workspace.bzl
index 68af36209bcf1dc9da79c431e68482f2229e7afb..ce6a0d1d6d82fe883987b1497b993f8fb34e410b 100644
--- a/tools/workspace.bzl
+++ b/tools/workspace.bzl
@@ -10,9 +10,11 @@ load("//third_party/glog:workspace.bzl", glog = "repo")
 load("//third_party/lz4:workspace.bzl", lz4 = "repo")
 load("//third_party/npp:workspace.bzl", npp = "repo")
 load("//third_party/opencv:workspace.bzl", opencv = "repo")
+load("//third_party/osqp:workspace.bzl", osqp = "repo")
 load("//third_party/pcl:workspace.bzl", pcl = "repo")
 load("//third_party/poco:workspace.bzl", poco = "repo")
 load("//third_party/proj4:workspace.bzl", proj4 = "repo")
+load("//third_party/qpOASES:workspace.bzl", qpOASES = "repo")
 load("//third_party/tf2:workspace.bzl", tf2 = "repo")
 load("//third_party/tinyxml2:workspace.bzl", tinyxml2 = "repo")
 load("//third_party/yaml_cpp:workspace.bzl", yaml_cpp = "repo")
@@ -30,9 +32,11 @@ def initialize_third_party():
     lz4()
     npp()
     opencv()
+    osqp()
     pcl()
     poco()
     proj4()
+    qpOASES()
     tf2()
     tinyxml2()
     yaml_cpp()