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	diff --git a/CMakeLists.txt b/CMakeLists.txt
	index f7a95d1..6210ef7 100644
	--- a/CMakeLists.txt
	+++ b/CMakeLists.txt
	@@ -1,21 +1,23 @@
	cmake_minimum_required(VERSION 3.5)
	project(vermin_collector_ros_msgs)
	# Default to C++14
	if(NOT CMAKE_CXX_STANDARD)
	set(CMAKE_CXX_STANDARD 14)
	endif()
	if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
	add_compile_options(-Wall -Wextra -Wpedantic)
	endif()
	find_package(ament_cmake REQUIRED)
	# find_package(geometry_msgs REQUIRED)
	+find_package(std_msgs REQUIRED)
	find_package(rosidl_default_generators REQUIRED)
	rosidl_generate_interfaces(${PROJECT_NAME}
	# "msg/Num.msg"
	# "msg/TargetCoordinates.msg"
	-# DEPENDENCIES std_msgs geometry_msgs
	"msg/Command.msg"
	"msg/Feedback.msg"
	+"msg/BeetleDetection.msg"
	+DEPENDENCIES std_msgs
	)
	ament_export_dependencies(rosidl_default_runtime)
	ament_package()
	diff --git a/msg/BeetleDetection.msg b/msg/BeetleDetection.msg
	new file mode 100644
	index 0000000..1a48970
	--- /dev/null
	+++ b/msg/BeetleDetection.msg
	@@ -0,0 +1,23 @@
	+std_msgs/Header header
	+
	+# Phone GPS location
	+float64 latitude
	+float64 longitude
	+float64 altitude
	+float32 horizontal_accuracy
	+
	+# Detection info
	+string label
	+int32 class_id
	+float32 confidence
	+int32 track_id
	+
	+# Bounding box (pixel coordinates in camera frame)
	+float32 bbox_x
	+float32 bbox_y
	+float32 bbox_width
	+float32 bbox_height
	+
	+# Camera frame dimensions
	+int32 frame_width
	+int32 frame_height