diff --git a/lampi_msgs/CMakeLists.txt b/lampi_msgs/CMakeLists.txt
new file mode 100644
index 0000000..4f9d340
--- /dev/null
+++ b/lampi_msgs/CMakeLists.txt
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.8)
+project(lampi_msgs)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Color.msg"
+  "msg/Lampi.msg"
+  DEPENDENCIES std_msgs
+)
+
+ament_package()
diff --git a/lampi_msgs/msg/Color.msg b/lampi_msgs/msg/Color.msg
new file mode 100644
index 0000000..bba79ee
--- /dev/null
+++ b/lampi_msgs/msg/Color.msg
@@ -0,0 +1,2 @@
+float32 h
+float32 s
\ No newline at end of file
diff --git a/lampi_msgs/msg/Lampi.msg b/lampi_msgs/msg/Lampi.msg
new file mode 100644
index 0000000..1ccf095
--- /dev/null
+++ b/lampi_msgs/msg/Lampi.msg
@@ -0,0 +1,4 @@
+lampi_msgs/Color color 
+float32 brightness
+bool on
+string client
\ No newline at end of file
diff --git a/lampi_msgs/package.xml b/lampi_msgs/package.xml
new file mode 100644
index 0000000..2e9fcbb
--- /dev/null
+++ b/lampi_msgs/package.xml
@@ -0,0 +1,30 @@
+<?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>lampi_msgs</name>
+  <version>1.1.0</version>
+  <description>MATE ROV Custom ROS messages</description>
+  <maintainer email="bwp18@case.edu">Benjamin Poulin</maintainer>
+  <maintainer email="ery12@case.edu">Eric Yarnot</maintainer>
+  <maintainer email="rmc170@case.edu">Michael Carlstrom</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>python3-pynput</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <depend>std_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>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>