diff --git a/src/beacon_positioning/CMakeLists.txt b/src/beacon_positioning/CMakeLists.txt
index 2bffa0e9..394101c3 100644
--- a/src/beacon_positioning/CMakeLists.txt
+++ b/src/beacon_positioning/CMakeLists.txt
@@ -23,6 +23,12 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(positioning_systems_api REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces($PROJECT_NAME
+  "msg/TrackerPosition.msg" # message for tracker position
+)
+
 
 add_executable(tracker_position src/tracker_position.cpp)
 ament_target_dependencies(tracker_position rclcpp std_msgs)
diff --git a/src/beacon_positioning/msg/TrackerPosition.msg b/src/beacon_positioning/msg/TrackerPosition.msg
new file mode 100644
index 00000000..23ecbff4
--- /dev/null
+++ b/src/beacon_positioning/msg/TrackerPosition.msg
@@ -0,0 +1,5 @@
+int32 id
+int64 x_pos
+int64 y_pos
+int64 z_pos
+int64[4] anchor_distances
diff --git a/src/beacon_positioning/package.xml b/src/beacon_positioning/package.xml
index 120478b7..4fd70d57 100644
--- a/src/beacon_positioning/package.xml
+++ b/src/beacon_positioning/package.xml
@@ -8,13 +8,17 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>
\ No newline at end of file