diff --git a/CMakeLists.txt b/CMakeLists.txt
index fd083d2949008bf4705ea11b9fcf64bc7eee7056..bfc06626e956f32308f4899b3c4405d768726aae 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,6 +8,7 @@ project(iri_raadical_msgs)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
   sensor_msgs
   actionlib_msgs
   message_generation
@@ -48,10 +49,10 @@ find_package(catkin REQUIRED COMPONENTS
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-#add_message_files(
-#  FILES
-#  Message.msg
-#)
+add_message_files(
+  FILES
+  target_state.msg
+)
 
 ## Generate services in the 'srv' folder
 add_service_files(
@@ -73,7 +74,7 @@ add_action_files(
 ## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
-  sensor_msgs actionlib_msgs std_msgs
+  geometry_msgs sensor_msgs actionlib_msgs std_msgs
 )
 
 ################################################
diff --git a/msg/target_state.msg b/msg/target_state.msg
new file mode 100644
index 0000000000000000000000000000000000000000..d78479b51fbdf1bc3fe6c2f03d18eb8ff023b70f
--- /dev/null
+++ b/msg/target_state.msg
@@ -0,0 +1,4 @@
+Header              header      # Header 
+
+geometry_msgs/Pose       pose   # Target pose
+geometry_msgs/Twist      twist  # Target velocity
diff --git a/package.xml b/package.xml
index 7b9b5d0cb68c5012817c05a31349a86bf40c5b5d..c1dbea5817e540e2b9756cb263a1dd8b14675975 100644
--- a/package.xml
+++ b/package.xml
@@ -53,12 +53,15 @@
   <build_depend>sensor_msgs</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
   <build_export_depend>actionlib_msgs</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
   <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
   <exec_depend>actionlib_msgs</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->