diff --git a/msg/DetectedObject.msg b/msg/DetectedObject.msg
new file mode 100644
index 000000000..fcc2d45ca
--- /dev/null
+++ b/msg/DetectedObject.msg
@@ -0,0 +1,4 @@
+DetectedObjectType type
+float32 detection_confidence
+float32 bearing
+float32 distance
\ No newline at end of file
diff --git a/msg/DetectedObjectType.msg b/msg/DetectedObjectType.msg
new file mode 100644
index 000000000..28c2319ff
--- /dev/null
+++ b/msg/DetectedObjectType.msg
@@ -0,0 +1,3 @@
+uint8 NO_OBJ=0
+uint8 MALLET=1
+uint8 WATER_BOTTLE=2
\ No newline at end of file