diff --git a/ur_msgs/CMakeLists.txt b/ur_msgs/CMakeLists.txt
index 323219212ddb3be5c80beda57cd2d4f1f01f117e..6a325ceb5f6260b9480baf9d0ad74f84dd9b8589 100644
--- a/ur_msgs/CMakeLists.txt
+++ b/ur_msgs/CMakeLists.txt
@@ -13,6 +13,7 @@ find_package(catkin REQUIRED COMPONENTS message_generation std_msgs)
    Analog.msg
    Digital.msg
    IOStates.msg
+   RobotStateRTMsg.msg
  )
 
 ## Generate services in the 'srv' folder
diff --git a/ur_msgs/msg/RobotStateRTMsg.msg b/ur_msgs/msg/RobotStateRTMsg.msg
new file mode 100644
index 0000000000000000000000000000000000000000..cf5f9f6347ac7f85f235179b0030ba79c0159b2a
--- /dev/null
+++ b/ur_msgs/msg/RobotStateRTMsg.msg
@@ -0,0 +1,19 @@
+float64 time
+float64[] q_target
+float64[] qd_target
+float64[] qdd_target
+float64[] i_target
+float64[] m_target
+float64[] q_actual
+float64[] qd_actual
+float64[] i_actual
+float64[] tool_acc_values
+float64[] tcp_force
+float64[] tool_vector
+float64[] tcp_speed
+float64 digital_input_bits
+float64[] motor_temperatures
+float64 controller_timer
+float64 test_value
+float64 robot_mode
+float64[] joint_modes