diff --git a/CMakeLists.txt b/CMakeLists.txt
index 53d04f9a8e2d2dbb82f5609e5d4f7deee0c13d08..80ca727fa6c6cee13a51b3b15fbb041c229bbfe0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -256,7 +256,8 @@ add_message_files(
   UuidCompressedImage.msg
   InferenceVisionDetection.msg
   NsInferenceVisionDetection.msg
-  NsTritonDetectionRawArray.msg  
+  NsTritonDetectionRawArray.msg
+  ControlTargetWithTime.msg
 )
 
 ## Generate services in the 'srv' folder
diff --git a/msg/ControlTargetWithTime.msg b/msg/ControlTargetWithTime.msg
new file mode 100644
index 0000000000000000000000000000000000000000..a9c5335632318f58a2412ae71cd0289ded623dfd
--- /dev/null
+++ b/msg/ControlTargetWithTime.msg
@@ -0,0 +1,6 @@
+float64 x
+float64 y
+float64 z
+float64 yaw_deg
+float64 time_to_target
+