diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..90d781e
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.8)
+project(rm_msgs)
+
+find_package(rosidl_default_generators REQUIRED)
+rosidl_generate_interfaces(${PROJECT_NAME}
+        "msg/DataMCU.msg"
+        "msg/DataRef.msg"
+        "msg/DataAI.msg"
+        "msg/Ps2Data.msg"
+)
+
+ament_package()
+
diff --git a/msg/DataAI.msg b/msg/DataAI.msg
new file mode 100644
index 0000000..30f9fa6
--- /dev/null
+++ b/msg/DataAI.msg
@@ -0,0 +1,4 @@
+float32 yaw
+float32 pit
+float32 rol
+uint8 noetice
\ No newline at end of file
diff --git a/msg/DataMCU.msg b/msg/DataMCU.msg
new file mode 100644
index 0000000..7fa1d92
--- /dev/null
+++ b/msg/DataMCU.msg
@@ -0,0 +1,9 @@
+float32 q0
+float32 q1
+float32 q2
+float32 q3
+float32 yaw
+float32 pit
+float32 rol
+float32 ball_speed
+uint8 notice
\ No newline at end of file
diff --git a/msg/DataRef.msg b/msg/DataRef.msg
new file mode 100644
index 0000000..6326cd1
--- /dev/null
+++ b/msg/DataRef.msg
@@ -0,0 +1,4 @@
+uint16 team
+uint16 time
+uint8 sentry_hp
+uint8 ballet_remain
\ No newline at end of file
diff --git a/msg/Ps2Data.msg b/msg/Ps2Data.msg
new file mode 100644
index 0000000..2b52c1c
--- /dev/null
+++ b/msg/Ps2Data.msg
@@ -0,0 +1,20 @@
+# control input message
+float32 lx
+float32 ly
+float32 rx
+float32 ry
+
+float32 up_down
+float32 left_right
+
+bool l1
+bool l2
+bool r1
+bool r2
+
+# 四种模式
+uint8 mode # 0:手柄控制 1:键盘控制 2:自瞄 3:手动瞄准
+
+bool select
+bool start
+
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..3641978
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package format="3">
+    <name>rm_msgs</name>
+    <version>0.0.1</version>
+    <description>这个包包含用于机器人操作的消息定义。</description>
+    <maintainer email="1683502971@qq.com">biao</maintainer>
+    <license>MIT</license>
+
+    <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>
\ No newline at end of file