diff --git a/openadx_msgs/msg/VehicleState.msg b/openadx_msgs/msg/VehicleState.msg
new file mode 100644
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+++ b/openadx_msgs/msg/VehicleState.msg
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+################################################################################
+# Copyright (c) 2018 TESIS GmbH
+# All rights reserved. This program and the accompanying materials
+# are made available under the terms of the Eclipse Public License v2.0
+# which accompanies this distribution, and is available at
+# http://www.eclipse.org/legal/epl-v20.html
+#
+# Contributors:
+#  Frederic Chucholowski (TESIS GmbH) - initial implementation
+###############################################################################
+
+# the current x-,y- and z-position of the vehicle reference point in the world system
+# the vehicle reference point is located at the center of the front axle
+Vector3 position
+
+# the current velocity with respect to the world system in vehicle coordinates
+Vector3 velocity
+
+# the current acceleration with respect to the world system in vehicle coordinates
+Vector3 acceleration
+
+# the current yaw angle [rad]
+float64 yawAngle
+# the current pitch angle [rad]
+float64 pitchAngle
+# the current roll angle [rad]
+float64 rollAngle
+
+# the current yaw rate [rad/s]
+float64 yawRate
+# the current pitch rate [rad/s]
+float64 pitchRate
+# the current roll rate [rad/s]
+float64 rollRate
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