diff --git a/CMakeLists.txt b/CMakeLists.txt
index ad060e4..c608790 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -46,11 +46,11 @@ find_package(catkin REQUIRED COMPONENTS
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
+add_message_files(
+  FILES
+  drive_params.msg
+  drive_values.msg
+)
 
 ## Generate services in the 'srv' folder
 # add_service_files(
@@ -67,10 +67,10 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs
-# )
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
diff --git a/msg/drive_param.msg b/msg/drive_param.msg
new file mode 100644
index 0000000..b8aefc3
--- /dev/null
+++ b/msg/drive_param.msg
@@ -0,0 +1,2 @@
+float32 velocity
+float32 angle
diff --git a/msg/drive_values.msg b/msg/drive_values.msg
new file mode 100644
index 0000000..9d12bf3
--- /dev/null
+++ b/msg/drive_values.msg
@@ -0,0 +1,2 @@
+int16 pwm_drive
+int16 pwm_angle
diff --git a/package.xml b/package.xml
index 100ca2c..e638d8b 100644
--- a/package.xml
+++ b/package.xml
@@ -7,7 +7,7 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="nandan@todo.todo">nandan</maintainer>
+  <maintainer email="nandan@uconn.edu">Nandan Tumu</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->