diff --git a/ur_msgs/CMakeLists.txt b/ur_msgs/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..64c814529bafa1f4abe129e0a8ae23d052f1d985
--- /dev/null
+++ b/ur_msgs/CMakeLists.txt
@@ -0,0 +1,157 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ur_msgs)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+ add_message_files(
+   FILES
+   Analog.msg
+   Digital.msg
+   IOStates.msg
+ )
+
+## Generate services in the 'srv' folder
+ add_service_files(
+   FILES
+   SetIO.srv
+#   Service2.srv
+ )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES ur_msgs
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+
+## Declare a cpp library
+# add_library(ur_msgs
+#   src/${PROJECT_NAME}/ur_msgs.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(ur_msgs_node src/ur_msgs_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(ur_msgs_node ur_msgs_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(ur_msgs_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ur_msgs ur_msgs_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_ur_msgs.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/ur_msgs/msg/Analog.msg b/ur_msgs/msg/Analog.msg
new file mode 100644
index 0000000000000000000000000000000000000000..9015f6c49eadcaec438c39ca1c3343073963a80d
--- /dev/null
+++ b/ur_msgs/msg/Analog.msg
@@ -0,0 +1,2 @@
+uint8 pin
+float32 state
diff --git a/ur_msgs/msg/Digital.msg b/ur_msgs/msg/Digital.msg
new file mode 100644
index 0000000000000000000000000000000000000000..6183945954e683178d10d2fde80da6ed1d314de9
--- /dev/null
+++ b/ur_msgs/msg/Digital.msg
@@ -0,0 +1,2 @@
+uint8 pin
+bool state
diff --git a/ur_msgs/msg/IOStates.msg b/ur_msgs/msg/IOStates.msg
new file mode 100644
index 0000000000000000000000000000000000000000..e7195735371cd94d40d749828776b6afd3b5b9b5
--- /dev/null
+++ b/ur_msgs/msg/IOStates.msg
@@ -0,0 +1,5 @@
+Digital[] digital_in_states
+Digital[] digital_out_states
+Digital[] flag_states
+Analog[] analog_in_states
+Analog[] analog_out_states
diff --git a/ur_msgs/package.xml b/ur_msgs/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..947f38af47b2021164f67ae38dacea65409ccdbf
--- /dev/null
+++ b/ur_msgs/package.xml
@@ -0,0 +1,53 @@
+<?xml version="1.0"?>
+<package>
+  <name>ur_msgs</name>
+  <version>0.0.0</version>
+  <description>The ur_msgs package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="glusia@rpi.edu">Andrew Glusiec</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/ur_msgs</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <author email="glusia@rpi.edu">Andrew Glusiec</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/ur_msgs/srv/SetIO.srv b/ur_msgs/srv/SetIO.srv
new file mode 100644
index 0000000000000000000000000000000000000000..13fea4fc90e95086879f9f5cac8ceace578d098d
--- /dev/null
+++ b/ur_msgs/srv/SetIO.srv
@@ -0,0 +1,5 @@
+int8 fun
+int8 pin
+float32 state
+---
+bool success