diff --git a/CMakeLists.txt b/CMakeLists.txt
index ba5fff1..ac67380 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -47,6 +47,7 @@ add_message_files(
   FILES
   AxisState.msg
   AxisDelta.msg
+  Proximity.msg
 )
 
 ## Generate services in the 'srv' folder
diff --git a/msg/Proximity.msg b/msg/Proximity.msg
new file mode 100644
index 0000000..75f9050
--- /dev/null
+++ b/msg/Proximity.msg
@@ -0,0 +1,17 @@
+# Reports the instantaneous measurement of a proximity sensor.
+
+Header header               # Includes a timestamp and frame ID for the measurement.
+
+# Radiation enumerations.
+uint8 UNSPECIFIED=255
+uint8 ULTRASOUND=0
+uint8 INFRARED=1
+uint8 RADAR=2
+
+uint8 radiation_type        # The type of radiation used by the sensor (e.g. ULTRASOUND, INFRARED, RADAR)
+
+float32 min_range           # The minimum detection range of the sensor [m]
+float32 max_range           # The maximum detection range of the sensor [m]
+float32 field_of_view       # The maximum FoV of the sensor [rad]
+
+bool proximity                  # Reports TRUE if proximity is detected, otherwise FALSE.
diff --git a/sensor_msgs_ext.pro b/sensor_msgs_ext.pro
index 2fa9558..35398d8 100644
--- a/sensor_msgs_ext.pro
+++ b/sensor_msgs_ext.pro
@@ -7,5 +7,6 @@ DISTFILES += \
     CMakeLists.txt \
     msg/AxisDelta.msg \
     msg/AxisState.msg \
+    msg/Proximity.msg \
     package.xml \
     srv/SetAxisHome.srv