diff --git a/ros2_fanuc_web_connector_msgs/CMakeLists.txt b/ros2_fanuc_web_connector_msgs/CMakeLists.txt
new file mode 100644
index 0000000..3b1dca8
--- /dev/null
+++ b/ros2_fanuc_web_connector_msgs/CMakeLists.txt
@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.8)
+project(fanuc_web_connector_msgs)
+
+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(std_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/RecordTrajectory.msg"
+  "msg/ReplayTrajectory.msg"
+  "msg/TrajectoryDB.msg"
+  "msg/TrajectoryDBItem.msg"
+  DEPENDENCIES std_msgs builtin_interfaces # Add packages that above messages depend on, in this case geometry_msgs for Sphere.msg
+)
+
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/ros2_fanuc_web_connector_msgs/RecordTrajectory.msg b/ros2_fanuc_web_connector_msgs/RecordTrajectory.msg
new file mode 100644
index 0000000..c714396
--- /dev/null
+++ b/ros2_fanuc_web_connector_msgs/RecordTrajectory.msg
@@ -0,0 +1,7 @@
+std_msgs/Header header
+
+string trajectory_name
+
+string robot_name
+
+bool record
\ No newline at end of file
diff --git a/ros2_fanuc_web_connector_msgs/ReplayTrajectory.msg b/ros2_fanuc_web_connector_msgs/ReplayTrajectory.msg
new file mode 100644
index 0000000..b8a0e9c
--- /dev/null
+++ b/ros2_fanuc_web_connector_msgs/ReplayTrajectory.msg
@@ -0,0 +1,6 @@
+std_msgs/Header header
+
+string trajectory_id
+
+string[] robot_names
+
diff --git a/ros2_fanuc_web_connector_msgs/TrajectoryDBItem.msg b/ros2_fanuc_web_connector_msgs/TrajectoryDBItem.msg
new file mode 100644
index 0000000..a95fd4c
--- /dev/null
+++ b/ros2_fanuc_web_connector_msgs/TrajectoryDBItem.msg
@@ -0,0 +1,3 @@
+string trajectory_id
+
+string trajectory_name
diff --git a/ros2_fanuc_web_connector_msgs/package.xml b/ros2_fanuc_web_connector_msgs/package.xml
new file mode 100644
index 0000000..7888b2d
--- /dev/null
+++ b/ros2_fanuc_web_connector_msgs/package.xml
@@ -0,0 +1,26 @@
+<?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>fanuc_web_connector_msgs</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="christoph.andres@stud.unileoben.ac.at">christoph</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>std_msgs</depend>
+  <depend>builtin_interfaces</depend>
+
+
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>