diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
index 98627dc..6207cc0 100644
--- a/control_msgs/CMakeLists.txt
+++ b/control_msgs/CMakeLists.txt
@@ -30,6 +30,7 @@ set(msg_files
   msg/SingleDOFState.msg
   msg/SingleDOFStateStamped.msg
   msg/SteeringControllerStatus.msg
+  msg/SteeringControllerCommand.msg
   msg/SpeedScalingFactor.msg
 )
 
diff --git a/control_msgs/msg/SteeringControllerCommand.msg b/control_msgs/msg/SteeringControllerCommand.msg
new file mode 100644
index 0000000..6cff974
--- /dev/null
+++ b/control_msgs/msg/SteeringControllerCommand.msg
@@ -0,0 +1,3 @@
+std_msgs/Header header
+float64 steering_angle  # in rad
+float64 linear_velocity # in m/s