diff --git a/src/height/CMakeLists.txt b/src/height/CMakeLists.txt
index d059c6d6..74deb716 100644
--- a/src/height/CMakeLists.txt
+++ b/src/height/CMakeLists.txt
@@ -20,6 +20,10 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(TerabeeApi REQUIRED)
 
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/HeightData.msg"
+ )
+
 add_executable(height_reader src/height_reader.cpp)
 target_include_directories(height_reader PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
diff --git a/src/height/msg/HeightData.msg b/src/height/msg/HeightData.msg
new file mode 100644
index 00000000..88d28cb5
--- /dev/null
+++ b/src/height/msg/HeightData.msg
@@ -0,0 +1,2 @@
+float32[4] heights
+float32 min_height
\ No newline at end of file