diff --git a/msg/RoverMecanumGuidanceStatus.msg b/msg/RoverMecanumGuidanceStatus.msg
new file mode 100644
index 0000000..fba9200
--- /dev/null
+++ b/msg/RoverMecanumGuidanceStatus.msg
@@ -0,0 +1,7 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
+float32 heading_error      # [rad] Heading error of the pure pursuit controller
+float32 desired_speed      # [m/s] Desired velocity magnitude (speed)
+
+# TOPICS rover_mecanum_guidance_status
diff --git a/msg/RoverMecanumSetpoint.msg b/msg/RoverMecanumSetpoint.msg
new file mode 100644
index 0000000..8718c03
--- /dev/null
+++ b/msg/RoverMecanumSetpoint.msg
@@ -0,0 +1,11 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 forward_speed_setpoint            # [m/s] Desired forward speed
+float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized forward speed
+float32 lateral_speed_setpoint            # [m/s] Desired lateral speed
+float32 lateral_speed_setpoint_normalized # [-1, 1] Desired normalized lateral speed
+float32 yaw_rate_setpoint                 # [rad/s] Desired yaw rate
+float32 yaw_rate_setpoint_normalized      # [-1, 1] Desired normalized yaw rate
+float32 yaw_setpoint 	                  # [rad] Desired yaw (heading)
+
+# TOPICS rover_mecanum_setpoint
diff --git a/msg/RoverMecanumStatus.msg b/msg/RoverMecanumStatus.msg
new file mode 100644
index 0000000..d9bc7b1
--- /dev/null
+++ b/msg/RoverMecanumStatus.msg
@@ -0,0 +1,13 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 measured_forward_speed        # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
+float32 measured_lateral_speed        # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
+float32 adjusted_yaw_rate_setpoint    # [rad/s] Yaw rate setpoint output of the closed loop yaw controller
+float32 measured_yaw_rate  	      # [rad/s] Measured yaw rate
+float32 measured_yaw        	      # [rad] Measured yaw
+float32 pid_yaw_rate_integral  	      # Integral of the PID for the closed loop yaw rate controller
+float32 pid_yaw_integral       	      # Integral of the PID for the closed loop yaw controller
+float32 pid_forward_throttle_integral # Integral of the PID for the closed loop forward speed controller
+float32 pid_lateral_throttle_integral # Integral of the PID for the closed loop lateral speed controller
+
+# TOPICS rover_mecanum_status