diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..63b191c
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 3.5)
+project(micro_ros_msgs)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(rosidl_typesupport_microxrcedds_c REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+rosidl_generate_interfaces(
+  ${PROJECT_NAME}
+  "msg/Graph.msg"
+  "msg/Node.msg"
+  "msg/Entity.msg"
+)
+
+ament_export_libraries()
+
+ament_package()
diff --git a/msg/Entity.msg b/msg/Entity.msg
new file mode 100644
index 0000000..8f2209b
--- /dev/null
+++ b/msg/Entity.msg
@@ -0,0 +1,8 @@
+byte PUBLISHER=0
+byte SUBSCRIBER=1
+byte SERVICE_SERVER=2
+byte SERVICE_CLIENT=3
+
+byte entity_type
+string<=256 name
+string<=256[] types
diff --git a/msg/Graph.msg b/msg/Graph.msg
new file mode 100644
index 0000000..85410ba
--- /dev/null
+++ b/msg/Graph.msg
@@ -0,0 +1 @@
+Node[] nodes
diff --git a/msg/Node.msg b/msg/Node.msg
new file mode 100644
index 0000000..b881a68
--- /dev/null
+++ b/msg/Node.msg
@@ -0,0 +1,3 @@
+string<=256 node_namespace
+string<=256 node_name
+Entity[] entities
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..f6a2b8a
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>micro_ros_msgs</name>
+  <version>0.0.1</version>
+  <description>Definitions for the ROS 2 msgs entities information used by micro-ROS to leverage its functionality to the same level as ROS 2, by means of a dedicated graph manager</description>
+  <maintainer email="josesantoniomoralparras@eprosima.com">Jose Antonio Moral</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+  <build_depend>rosidl_typesupport_microxrcedds_c</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>