diff --git a/humanoid_common_msgs/CMakeLists.txt b/humanoid_common_msgs/CMakeLists.txt
index 4eafbcf7ed18b5271c4f2c2228e25a256029b623..843322c2e5bfd20c279834816707a5bbdc54c119 100644
--- a/humanoid_common_msgs/CMakeLists.txt
+++ b/humanoid_common_msgs/CMakeLists.txt
@@ -50,6 +50,7 @@ add_message_files(
   leds.msg
   smart_charger_config.msg
   smart_charger_data.msg
+  ir_foot_data.msg
 )
 
 ## Generate services in the 'srv' folder
diff --git a/humanoid_common_msgs/msg/ir_foot_data.msg b/humanoid_common_msgs/msg/ir_foot_data.msg
new file mode 100644
index 0000000000000000000000000000000000000000..07a30dd88d913576818b37dc4ae3ad9c52c4cb81
--- /dev/null
+++ b/humanoid_common_msgs/msg/ir_foot_data.msg
@@ -0,0 +1,15 @@
+Header header
+string[] names
+float64[] voltages
+bool[] status
+
+int32 DOWN_LEFT_MIDDLE=0
+int32 DOWN_LEFT_REAR=1
+int32 DOWN_ANALOG=2
+int32 DOWN_LEFT_FRONT=3
+int32 DOWN_RIGHT_REAR=4
+int32 DOWN_RIGHT_MIDDLE=5
+int32 DOWN_RIGHT_FRONT=6
+int32 FRONT_LEFT=7
+int32 FRONT_RIGHT=8
+int32 FRONT_ANALOG=9