diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5274997..84c841c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,6 +9,7 @@ find_package(catkin REQUIRED COMPONENTS
 add_message_files(
   FILES
   HuskyStatus.msg
+  HuskyWheelTick.msg
 )
 
 generate_messages(
diff --git a/msg/HuskyWheelTick.msg b/msg/HuskyWheelTick.msg
new file mode 100644
index 0000000..93bd80d
--- /dev/null
+++ b/msg/HuskyWheelTick.msg
@@ -0,0 +1,3 @@
+Header header
+string[] name
+int32[] tickCount