diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 3a6ed153..2ce1dddf 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -10,7 +10,8 @@
                 "/home/ubuntu/ros2_ws/src/beacon_positioning/include/**",
                 "/usr/include/**",
                 "/mnt/Homework/Avans/AFSTUDEERSTAGE/positioning_systems_api/rtls_driver/include/**",
-                "/mnt/Homework/Avans/AFSTUDEERSTAGE/positioning_systems_api/serial_communication/include/**"
+                "/mnt/Homework/Avans/AFSTUDEERSTAGE/positioning_systems_api/serial_communication/include/**",
+                "/mnt/Homework/Avans/AFSTUDEERSTAGE/terabee_api/include/**"
             ],
             "name": "ROS",
             "intelliSenseMode": "gcc-x64",
diff --git a/src/object_detection/CMakeLists.txt b/src/object_detection/CMakeLists.txt
index 7c3ff38c..1ec53743 100644
--- a/src/object_detection/CMakeLists.txt
+++ b/src/object_detection/CMakeLists.txt
@@ -22,9 +22,15 @@ find_package(ament_cmake REQUIRED)
 # find_package(<dependency> REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(TerabeeApi REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(object_detection REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/LidarReading.msg"
+ )
 
 add_executable(lidar_reader src/lidar_reader.cpp)
-ament_target_dependencies(lidar_reader rclcpp)
+ament_target_dependencies(lidar_reader rclcpp object_detection)
 
 target_link_libraries(lidar_reader ${TerabeeApi_LIBRARIES})
 target_include_directories(lidar_reader PUBLIC ${TerabeeApi_INCLUDE_DIRS})
diff --git a/src/object_detection/msg/LidarReading.msg b/src/object_detection/msg/LidarReading.msg
new file mode 100644
index 00000000..83e423a6
--- /dev/null
+++ b/src/object_detection/msg/LidarReading.msg
@@ -0,0 +1,6 @@
+float32 sensor_1
+float32 sensor_2
+float32 sensor_3
+float32 sensor_4
+float32[] imu_data
+
diff --git a/src/object_detection/package.xml b/src/object_detection/package.xml
index 02c38d67..f7fcd572 100644
--- a/src/object_detection/package.xml
+++ b/src/object_detection/package.xml
@@ -14,7 +14,12 @@
 
   <build_depend>rclcpp</build_depend>
   <build_depend>TerabeeApi</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  
   <exec_depend>TerabeeApi</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  
+  <member_of_group>rosidl_interface_packages</member_of_group>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/src/px4_msgs b/src/px4_msgs
index 4db0a3f1..b64ef047 160000
--- a/src/px4_msgs
+++ b/src/px4_msgs
@@ -1 +1 @@
-Subproject commit 4db0a3f14ea81b9de7511d738f8ad9bd8ae5b3ad
+Subproject commit b64ef0475c1d44605688f4770899fe453d532be4
diff --git a/src/px4_ros_com b/src/px4_ros_com
index 0bcf68bc..1562ff30 160000
--- a/src/px4_ros_com
+++ b/src/px4_ros_com
@@ -1 +1 @@
-Subproject commit 0bcf68bcb635199adcd134e8932932054e863c0d
+Subproject commit 1562ff30d56b7ba26e4d2436724490f900cc2375