diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1c357d8..c0ccd6a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,7 +5,8 @@ find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
 set(msg_files
-  "msg/PublishedTime.msg")
+  "msg/PublishedTime.msg"
+  "msg/MissionRemainingDistanceTime.msg")
 
 set(msg_dependencies
   builtin_interfaces
diff --git a/msg/MissionRemainingDistanceTime.msg b/msg/MissionRemainingDistanceTime.msg
new file mode 100644
index 0000000..b5681c5
--- /dev/null
+++ b/msg/MissionRemainingDistanceTime.msg
@@ -0,0 +1,7 @@
+# Information about the mission remaining distance and time.
+
+float64 remaining_distance    # Remaining distance in meters
+float64 remaining_time        # Remaining total time in seconds
+uint32 remaining_hours        # Remaining hours
+uint32 remaining_minutes      # Remaining minutes
+uint32 remaining_seconds      # Remaining seconds