diff --git a/CMakeLists.txt b/CMakeLists.txt
index f6e6f4e29aed4392d07ec0cc52eae676da51e20f..8949c0a72e8c9b382bd51432e45562cf6845ea87 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -250,6 +250,7 @@ add_message_files(
   StopGestureClassifier.msg 
   GestureClassification.msg
   LoopSelCommand.msg
+  GimbalInfo.msg
 )
 
 ## Generate services in the 'srv' folder
diff --git a/msg/GimbalInfo.msg b/msg/GimbalInfo.msg
new file mode 100644
index 0000000000000000000000000000000000000000..75b30eb51c3a86a86409b19d36427da881f8f6b9
--- /dev/null
+++ b/msg/GimbalInfo.msg
@@ -0,0 +1,6 @@
+float32 min_yaw_angle
+float32 max_yaw_angle
+float32 yaw_angle
+float32 min_pitch_angle
+float32 max_pitch_angle
+float32 pitch_angle