diff --git a/msg/RadarReturn.msg b/msg/RadarReturn.msg
new file mode 100644
index 0000000..9026697
--- /dev/null
+++ b/msg/RadarReturn.msg
@@ -0,0 +1,10 @@
+# All variables below are relative to the radar's frame of reference.
+# This message is not meant to be used alone but as part of a stamped or array message.
+
+float32 range                            # Distance (m) from the sensor to the detected return.
+float32 azimuth                          # Angle (in radians) in the azimuth plane between the sensor and the detected return.
+                                         #    Positive angles are anticlockwise from the sensor and negative angles clockwise from the sensor as per REP-0103.
+float32 elevation                        # Angle (in radians) in the elevation plane between the sensor and the detected return.
+                                         #    Negative angles are below the sensor. For 2D radar, this will be 0.
+float32 doppler_velocity                 # The doppler speeds (m/s) of the return.
+float32 amplitude                        # The amplitude of the of the return (dB)
diff --git a/msg/RadarScan.msg b/msg/RadarScan.msg
new file mode 100644
index 0000000..7735da4
--- /dev/null
+++ b/msg/RadarScan.msg
@@ -0,0 +1,3 @@
+std_msgs/Header header
+
+radar_msgs/RadarReturn[] returns