diff --git a/sensor_msgs/msg/AngularVelocity.msg b/sensor_msgs/msg/AngularVelocity.msg
new file mode 100644
index 00000000..8ffc2c7c
--- /dev/null
+++ b/sensor_msgs/msg/AngularVelocity.msg
@@ -0,0 +1,4 @@
+std_msgs/Header header
+
+geometry_msgs/Vector3 angular_velocity
+float64[9] angular_velocity_covariance # Row major about x, y, z axes
diff --git a/sensor_msgs/msg/Attitude.msg b/sensor_msgs/msg/Attitude.msg
new file mode 100644
index 00000000..7005b149
--- /dev/null
+++ b/sensor_msgs/msg/Attitude.msg
@@ -0,0 +1,14 @@
+# This message represents 3D attitude
+
+int8 ENU=1
+int8 NED=2
+int8 ENU_FLOATING=3
+int8 NED_FLOATING=4
+
+std_msgs/Header header
+
+geometry_msgs/Quaternion orientation
+float64[9] orientation_covariance # Row major about x, y, z axes
+
+uint8 reference_frame_type # NED, ENU, NED_FLOATING, ENU_FLOATING
+string sensor_frame # The coordinate frame in the system of the observation.
diff --git a/sensor_msgs/msg/LinearAcceleration.msg b/sensor_msgs/msg/LinearAcceleration.msg
new file mode 100644
index 00000000..e113fc1e
--- /dev/null
+++ b/sensor_msgs/msg/LinearAcceleration.msg
@@ -0,0 +1,3 @@
+std_msgs/Header header
+geometry_msgs/Vector3 linear_acceleration
+float64[9] linear_acceleration_covariance # Row major x, y z