diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1e4d0ece471651e4af4bb468c0dd53fda57c2a27..1a8bdbebe002cccd00c6b33f028435a5d4d3499b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -52,6 +52,8 @@ add_message_files(
   FILES
   adc_goal.msg
   adc_goal_array.msg
+  landmark.msg
+  landmark_array.msg
 )
 
 ## Generate services in the 'srv' folder
diff --git a/msg/landmark.msg b/msg/landmark.msg
new file mode 100644
index 0000000000000000000000000000000000000000..0247882eb2232e2e9fc2cfc721e082d5b8dff956
--- /dev/null
+++ b/msg/landmark.msg
@@ -0,0 +1,3 @@
+geometry_msgs/Pose pose
+float32 probability
+int32 type
diff --git a/msg/landmark_array.msg b/msg/landmark_array.msg
new file mode 100644
index 0000000000000000000000000000000000000000..ab8e23f2fe18607e3ce79d5218d278908fc70d20
--- /dev/null
+++ b/msg/landmark_array.msg
@@ -0,0 +1,2 @@
+Header     header
+landmark[] landmarks