diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt b/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt
index 7e05ad0..54b8e79 100644
--- a/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt
+++ b/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt
@@ -10,10 +10,17 @@ find_package(catkin REQUIRED
 
 add_message_files(
   FILES
+    AssistedTeleopState.msg
+    ObstacleMap.msg
     Safety.msg
     WatchdogStatus.msg
 )
 
+add_service_files(
+  FILES
+    BypassProtection.srv
+)
+
 generate_messages(
   DEPENDENCIES
     std_msgs
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/AssistedTeleopState.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/AssistedTeleopState.msg
new file mode 100644
index 0000000..c602ab5
--- /dev/null
+++ b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/AssistedTeleopState.msg
@@ -0,0 +1,5 @@
+# Assisted teleoperation message indicating the current state of the protection
+
+bool bypassed
+bool collision_imminent
+bool platform_stopped
\ No newline at end of file
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/ObstacleMap.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/ObstacleMap.msg
new file mode 100644
index 0000000..ffcce9e
--- /dev/null
+++ b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/ObstacleMap.msg
@@ -0,0 +1,3 @@
+# Assisted teleoperation message indicating the threat level of obstacles surrounidng the platform
+
+float32[] threat_level
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/BypassProtection.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/BypassProtection.srv
new file mode 100644
index 0000000..a234aff
--- /dev/null
+++ b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/BypassProtection.srv
@@ -0,0 +1,9 @@
+# Should protection of all inputs be bypassed?
+bool bypass
+ 
+---
+ 
+# True if we successfully bypassed the protection of the inputs.
+# False if there was an error
+bool success
+string message
\ No newline at end of file