diff --git a/CMakeLists.txt b/CMakeLists.txt
index 43bebb4c4bb69a5a04029cd0e9ea9e49da1de61a..39421193ac9c1e8c2aa89e26e06f748b237ac90b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -52,6 +52,7 @@ find_package(catkin REQUIRED COMPONENTS
 add_message_files(
    FILES
    RpaAccel.msg
+   RpaImuGnssPositioning.msg
    RpaPositioningInfo.msg
    RpaRPY.msg
    RpaStateInfo.msg
diff --git a/msg/RpaImuGnssPositioning.msg b/msg/RpaImuGnssPositioning.msg
index 5a064ba787a2c909f2ec1b24b168ee9e484fd3a2..4d3ce9cb0b8b08ca2adfb486ddd19ff52c381727 100644
--- a/msg/RpaImuGnssPositioning.msg
+++ b/msg/RpaImuGnssPositioning.msg
@@ -1,12 +1,12 @@
-float64 Rx_time 	#The receiving time in seconds after the start of the week
+float64 Rx_time 	# The receiving time in seconds after the start of the week
 
-float64 X 			#IMU/GNSS position X component in ECEF [m]
-float64 Y 			#IMU/GNSS position Y component in ECEF [m]
-float64 Z 			#IMU/GNSS position Z component in ECEF [m]
+float64 X 			# IMU-GNSS position X component in ECEF [m]
+float64 Y 			# IMU-GNSS position Y component in ECEF [m]
+float64 Z 			# IMU-GNSS position Z component in ECEF [m]
 
-float64 Sxx 		#IMU/GNSS position variance in the X component [m^2]
-float64 Sxy 		#IMU/GNSS position XY covariance [m^2]
-float64 Sxx 		#IMU/GNSS position XZ covariance [m^2]
-float64 Syy 		#IMU/GNSS position variance in the Y component [m^2]
-float64 Syz 		#IMU/GNSS position YZ covariance [m^2]
-float64 Szz 		#IMU/GNSS position variance in the Z component [m^2]
\ No newline at end of file
+float64 Sxx 		# IMU-GNSS position variance in the X component (m^2)
+float64 Sxy 		# IMU-GNSS position XY covariance [m^2]
+float64 Sxz 		# IMU-GNSS position XZ covariance [m^2]
+float64 Syy 		# IMU-GNSS position variance in the Y component [m^2]
+float64 Syz 		# IMU-GNSS position YZ covariance [m^2]
+float64 Szz 		# IMU-GNSS position variance in the Z component [m^2]
\ No newline at end of file