diff --git a/CMakeLists.txt b/CMakeLists.txt
index 399ba14..f7a95d1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,19 +1,21 @@
 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(geometry_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/Num.msg"
+# "msg/TargetCoordinates.msg"
+#  DEPENDENCIES std_msgs geometry_msgs
+"msg/Command.msg"
+"msg/Feedback.msg"
  )
 ament_export_dependencies(rosidl_default_runtime)
 ament_package()
diff --git a/msg/Command.msg b/msg/Command.msg
new file mode 100644
index 0000000..20998e6
--- /dev/null
+++ b/msg/Command.msg
@@ -0,0 +1,28 @@
+# Command type (enum)
+uint8 SETUP=0
+uint8 TARGET=1
+uint8 HOMING=2
+
+uint8 command_type
+
+
+# Position (microsteps)
+int32 pitch
+int32 yaw
+int32 slide
+
+
+# Laser duration (ms)
+uint32 laser_duration_ms
+
+
+# Star-limit in microsteps
+uint32 star_diameter
+
+
+# Resolution (8,16,32,64)
+uint8 resolution
+
+
+# Microstep frequency (Hz)
+uint32 frequency
\ No newline at end of file
diff --git a/msg/Feedback.msg b/msg/Feedback.msg
new file mode 100644
index 0000000..8dc098a
--- /dev/null
+++ b/msg/Feedback.msg
@@ -0,0 +1,18 @@
+# State enum
+uint8 READY=0
+uint8 CONFIGURING=1
+uint8 MOVING=2
+uint8 CALIBRATING=3
+
+uint8 state
+
+
+# Current position
+int32 pitch
+int32 yaw
+int32 slide
+
+
+# Current settings
+uint32 frequency
+uint8 resolution
\ No newline at end of file
diff --git a/package.xml b/package.xml
index 4ec457f..7c92e7f 100644
--- a/package.xml
+++ b/package.xml
@@ -1,21 +1,21 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>vermin_collector_ros_msgs</name>
   <version>0.0.1</version>
-  <description>TODO: Package description</description>
-  <maintainer email="user@todo.todo">user</maintainer>
-  <license>TODO: License declaration</license>
+  <description>custom message format for vermin collector communication to ESP32</description>
+  <maintainer email="alexander120400@gmail.com">user</maintainer>
+  <license>Apache-2.0</license>
   <buildtool_depend>ament_cmake</buildtool_depend>
   
-  <depend>geometry_msgs</depend>
+  <!-- <depend>geometry_msgs</depend> -->
 
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <export>
     <build_type>ament_cmake</build_type>
   </export>
 </package>
\ No newline at end of file