diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2ee8119..4ee2503 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,6 +14,10 @@ add_message_files(
   gnss_fix.msg
   gnss_position.msg
   gnss_track.msg
+  accelerometer.msg
+  gyroscope.msg
+  magnetometer.msg
+  temperature.msg
 )
 
 # Add service files.
diff --git a/msg/accelerometer.msg b/msg/accelerometer.msg
new file mode 100644
index 0000000..0463f97
--- /dev/null
+++ b/msg/accelerometer.msg
@@ -0,0 +1,5 @@
+# A 3D measurement of linear acceleration.
+
+float64 x           # The linear acceleration in the X direction [m/s^2]
+float64 y           # The linear acceleration in the Y direction [m/s^2]
+float64 z           # The linear acceleration in the Z direction [m/s^2]
\ No newline at end of file
diff --git a/msg/gyroscope.msg b/msg/gyroscope.msg
new file mode 100644
index 0000000..4762eaf
--- /dev/null
+++ b/msg/gyroscope.msg
@@ -0,0 +1,5 @@
+# A 3D measurement of angular velocity.
+
+float64 x           # The angular velocity about the X axis [rad/s]
+float64 y           # The angular velocity about the Y axis [rad/s]
+float64 z           # The angular velocity about the Z axis [rad/s]
\ No newline at end of file
diff --git a/msg/magnetometer.msg b/msg/magnetometer.msg
new file mode 100644
index 0000000..8953c01
--- /dev/null
+++ b/msg/magnetometer.msg
@@ -0,0 +1,5 @@
+# A 3D measurement of the local magnetic field.
+
+float64 x           # The magnetic field strength in the X direction [T]
+float64 y           # The magnetic field strength in the Y direction [T]
+float64 z           # The magnetic field strength in the Z direction [T]
\ No newline at end of file
diff --git a/msg/temperature.msg b/msg/temperature.msg
new file mode 100644
index 0000000..02207af
--- /dev/null
+++ b/msg/temperature.msg
@@ -0,0 +1,3 @@
+# Indicates an instantaneous temperature reading.
+
+float64 temperature     # The measured temperature [C]
\ No newline at end of file