diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
index b38cafda..79dd0545 100644
--- a/control_msgs/CMakeLists.txt
+++ b/control_msgs/CMakeLists.txt
@@ -10,15 +10,17 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+find_package(action_msgs REQUIRED)
 find_package(ament_cmake REQUIRED)
 find_package(builtin_interfaces REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-find_package(action_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(trajectory_msgs REQUIRED)
 
 set(msg_files
+  msg/AdmittanceControllerState.msg
   msg/DynamicJointState.msg
   msg/GripperCommand.msg
   msg/InterfaceValue.msg
@@ -49,10 +51,16 @@ if(BUILD_TESTING)
 endif()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
+  ${action_files}
   ${msg_files}
   ${srv_files}
-  ${action_files}
-  DEPENDENCIES action_msgs builtin_interfaces geometry_msgs std_msgs trajectory_msgs
+  DEPENDENCIES
+    action_msgs
+    builtin_interfaces
+    geometry_msgs
+    sensor_msgs
+    std_msgs
+    trajectory_msgs
   ADD_LINTER_TESTS
 )
 ament_export_dependencies(rosidl_default_runtime)
diff --git a/control_msgs/msg/AdmittanceControllerState.msg b/control_msgs/msg/AdmittanceControllerState.msg
new file mode 100644
index 00000000..3e8cb700
--- /dev/null
+++ b/control_msgs/msg/AdmittanceControllerState.msg
@@ -0,0 +1,17 @@
+# Admittance parameters
+std_msgs/Float64MultiArray mass  # 6-vector of mass terms used in the admittance calculation
+std_msgs/Float64MultiArray damping # 6-vector of damping terms used in the admittance calculation
+std_msgs/Float64MultiArray stiffness # 6-vector of stiffness terms used in the admittance calculation
+
+# Frame information
+geometry_msgs/Quaternion rot_base_control # quaternion describing the orientation of the control frame
+geometry_msgs/TransformStamped ref_trans_base_ft # force torque sensor transform at the reference joint configuration
+std_msgs/Int8MultiArray selected_axes # 6-vector of 0/1 describing if admittance is enable in the corresponding control frame axis
+std_msgs/String ft_sensor_frame # name of the force torque frame
+
+# State information
+geometry_msgs/TransformStamped admittance_position # calculated admittance position in cartesian space
+geometry_msgs/TwistStamped admittance_acceleration # calculated admittance acceleration in cartesian space
+geometry_msgs/TwistStamped admittance_velocity # calculated admittance velocity in cartesian space
+geometry_msgs/WrenchStamped wrench_base # wrench used in the admittance calculation
+sensor_msgs/JointState joint_state # calculated admittance offsets in joint space
diff --git a/control_msgs/package.xml b/control_msgs/package.xml
index 23f58ce1..36e9d5b0 100644
--- a/control_msgs/package.xml
+++ b/control_msgs/package.xml
@@ -19,6 +19,7 @@
   <depend>action_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>trajectory_msgs</depend>