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