the ground conductor for the sub panel back to the main panel connection should be in the same conduit/cable as the two hots and the neutral. This is the only ground that is needed on a sub panel unless the panel is located in another structure. In that case a ground rod may be required as well. Contrary to popular belief, ground rods will not clear a fault in the case of an electrical malfunction. The rod is only there to protect the system in the event of a high energy event such as a lightning strike. The ground wire back to the main panel will carry any fault current back to the source/zero reference connection point which is what will clear a fault.