diff --git a/CMakeLists.txt b/CMakeLists.txt
index d0e583989bfd90a05a28546847acb8f79f4f3eb4..9aa289cfd73f1cd56e990822182c835f63c74493 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -245,7 +245,10 @@ add_message_files(
   NsGimbalCommand.msg  
   Gimbal.msg  
   NsGimbal.msg
-  GimbalTestCommand.msg    
+  GimbalTestCommand.msg
+  StartGestureClassifier.msg
+  StopGestureClassifier.msg 
+  GestureClassification.msg 
 )
 
 ## Generate services in the 'srv' folder
diff --git a/msg/GestureClassification.msg b/msg/GestureClassification.msg
new file mode 100644
index 0000000000000000000000000000000000000000..175a9b09398c0a6f88ab128bb784c2cc752e7356
--- /dev/null
+++ b/msg/GestureClassification.msg
@@ -0,0 +1,2 @@
+float32[] probabilities
+lrs_msgs_common/CVLImage image
\ No newline at end of file
diff --git a/msg/StartGestureClassifier.msg b/msg/StartGestureClassifier.msg
new file mode 100644
index 0000000000000000000000000000000000000000..6c11c0d1d985c81e2a5b00e6bc35bcb493cd7e89
--- /dev/null
+++ b/msg/StartGestureClassifier.msg
@@ -0,0 +1,2 @@
+lrs_msgs_common/BoundingBoxCVL bbox  # If width or heigh is -1 then bbox is not specified
+bool return_target
\ No newline at end of file
diff --git a/msg/StopGestureClassifier.msg b/msg/StopGestureClassifier.msg
new file mode 100644
index 0000000000000000000000000000000000000000..47705c61c28b1dea3e9147f9064f2bd2ac0db3ed
--- /dev/null
+++ b/msg/StopGestureClassifier.msg
@@ -0,0 +1 @@
+string stop_msg