diff --git a/ros_ws/src/arduino/motor/motor.ino b/ros_ws/src/arduino/motor/motor.ino
new file mode 100644
index 0000000..2260c7f
--- /dev/null
+++ b/ros_ws/src/arduino/motor/motor.ino
@@ -0,0 +1,355 @@
+/**
+ * @file motor.ino
+ * @brief Controls the Motors
+ * 
+ * Code to be put on the Arduino based Motor Controllers
+ * Converts Angular Velocity (Rad/Sec) to float (0-255)
+ * 
+ */
+
+#include <ros.h>
+#include <std_msgs/Float64.h>
+#include <control/Encoder.h>
+#include <ros/time.h>
+
+/*************
+ * Constants *
+ *************/
+ 
+/**
+ * @brief Place to Change which Wheel we want to Program
+ * 
+ * In order to correctly inturpret the Wheel Velocity's, 
+ *  we need to define which wheel we are uploading code to. 
+ *  This will be used to insure that the proper wheel gets the
+ *  Proper commands
+ */
+#define R_WHEEL
+
+#if defined R_WHEEL
+const char* VELOCITY_TOPIC = "right_vel";
+const char* ENCODER_TOPIC = "right_tick";
+#elif defined L_WHEEL
+const char* VELOCITY_TOPIC = "left_vel";
+const char* ENCODER_TOPIC = "left_tick";
+#endif
+
+/**
+ * @brief value for the desierd refresh rate of the encoder
+ * 
+ * Variable is the number of Millisecond Delay between publishes
+ */
+ const float REFRESH_RATE_DESIRED = 1000;
+ 
+/******************************************************************
+ * Adjust for the changing of the arudino timer funciton to       *
+ * remove motor whine. This will only work with a divisor of 8!   *
+ * If Divisor changes, please look into how this effects arduino  *
+ * Timing Functons.                                               *
+ *                                                                *
+ * For Referance please see below website                         *
+ * http://playground.arduino.cc/Main/TimerPWMCheatsheet           *
+ * ****************************************************************/
+ //const float REFRESH_RATE = (REFRESH_RATE_DESIRED * 8);
+
+ //Replace this line with the line above it if motor whine 
+ //   is still an issue
+   const float REFRESH_RATE = (REFRESH_RATE_DESIRED);
+   
+/**
+ * @brief Radians Per Second at full Throtle
+ * 
+ * todo !!!!!!!STILL NEEDS TO BE UPDATED!!!!!!!!!
+ * 
+ */
+const float MAX_RAD_SEC = 5;
+
+/**
+ * @brief Pin the encoder is attached
+ */
+const int ENCODER_PIN = 2;
+
+/**
+ * @brief Pins used to control the Motor
+ */
+const int FORWARD_PWM_PIN = 5;
+const int REVERSE_PWM_PIN = 6;
+const int ENABLE_PIN = A3;
+
+/**
+ * @brief Float used to scale the Speed to
+ */
+float desired_speed = 0;
+
+/**
+ * @brief Boolean used to store the desired direction
+ * 
+ * True is Forward, and False is Backwards
+ */
+float desired_direction;
+
+/**
+ * @brief Values to be updated when the inturrupt is triggered for encoder
+ */
+volatile unsigned int encoder_ticks = 0;
+
+/**
+ * @brief Values used to keep track of current time for multitasking
+ */
+ int current_mills = 0;
+ int old_mills = 0;
+
+/************************
+ * Forward Declerations *
+ ************************/
+void encoderCount();
+void updateEncoder();
+void set_pwm_frequency();
+void velocityCallback(const std_msgs::Float64& msg);
+float fScale( float originalMin, float originalMax, float newBegin, 
+              float newEnd, float inputValue, float curve);
+
+/**
+ * @brief ROS node handle
+ */
+ros::NodeHandle node_handle;
+
+/**
+ * @brief ROS message used for publishing the encoder data
+ */
+control::Encoder encoderMessage;
+
+/**
+ * @brief ROS Subscriber for the Velocity Message
+ */
+ros::Subscriber<std_msgs::Float64> velocitySub(VELOCITY_TOPIC, &velocityCallback);
+
+/**
+ * @brief ROS Publisher for the Encoder Message
+ */
+ros::Publisher encoderPub(ENCODER_TOPIC, &encoderMessage);
+
+void setup() 
+{
+    //Fix the Motor Whine
+    //set_pwm_frequency();
+
+    //setup pins
+    pinMode(FORWARD_PWM_PIN, OUTPUT);
+    pinMode(REVERSE_PWM_PIN, OUTPUT);
+    pinMode(ENABLE_PIN, OUTPUT);
+    pinMode(ENCODER_PIN, INPUT);
+
+    //Set Robot to break when starting
+    digitalWrite(ENABLE_PIN, HIGH);
+    analogWrite(FORWARD_PWM_PIN, 0);
+    analogWrite(REVERSE_PWM_PIN, 0);
+
+    //Setup ROS node and topics
+    node_handle.initNode();
+    node_handle.subscribe(velocitySub);
+    node_handle.advertise(encoderPub);
+
+    //Set the Inturupt on Pin 2
+    attachInterrupt(0, encoderCount, RISING);
+}
+
+void loop() 
+{
+    //update the current time for multitasking
+    current_mills = millis();
+    
+    //Only update the Encoder data when the Refresh Rate says to
+    if(current_mills-old_mills >= REFRESH_RATE)
+    {
+        updateEncoder();
+        old_mills = current_mills;
+    }
+
+    //Only used to get the messages from ROS
+    node_handle.spinOnce();
+}
+
+/**
+ * @brief The callback function for velocity messages
+ * 
+ * This function accepts velocity messages and convertes them into wheel speeds
+ * This will convert a float into an intger(0-255)
+ * 
+ * @param msg The message witch is recived from the velocity publisher
+ */
+void velocityCallback(const std_msgs::Float64& msg)
+{
+    desired_speed = fScale(0, MAX_RAD_SEC, 0, 255, abs(msg.data), 0);
+    //If msg.data is positive, the set to TRUE
+    desired_direction = (msg.data > 0);
+    
+    if(msg.data > 0)
+    {
+        //Go Forward
+        digitalWrite(ENABLE_PIN, HIGH);
+        analogWrite(FORWARD_PWM_PIN, desired_speed);
+        analogWrite(REVERSE_PWM_PIN, 0);
+    }
+    else if(msg.data < 0)
+    {
+        //Go in Reverse
+        digitalWrite(ENABLE_PIN, HIGH);
+        analogWrite(FORWARD_PWM_PIN, 0);
+        analogWrite(REVERSE_PWM_PIN, desired_speed);
+    }
+    else
+    {
+        //active break
+        digitalWrite(ENABLE_PIN, HIGH);
+        analogWrite(FORWARD_PWM_PIN, 0);
+        analogWrite(REVERSE_PWM_PIN, 0);
+    }
+}
+
+/**
+ * @brief The Function will send the updated encoder value to ROS
+ * 
+ * This Function is used to update the main ROS program with
+ * the current number of ticks per timestamp
+ */
+void updateEncoder()
+{
+    //update the value of the message
+    encoderMessage.ticks = encoder_ticks;
+    encoderMessage.header.stamp = node_handle.now();
+    
+    //publish message
+    encoderPub.publish(&encoderMessage);
+
+    //reset the count to 0
+    encoder_ticks = 0;
+}
+
+/**
+ * @brief The Function will update the encoder
+ * 
+ * This Function is called whenever there is a change 
+ * to the value of pin 2, it is part of the attachInterrupt routine
+ * It updates the value of encoder_ticks
+ */
+void encoderCount()
+{
+    if(desired_direction)
+    {
+        encoder_ticks++; 
+    }
+    else
+    {
+        encoder_ticks--;
+    }
+}
+
+/**
+ * @brief The Function will Scale the Input to the Expected Output
+ * 
+ * This function accepts the input value, and input range,
+ * It will the scale the value to the expected output inside
+ * the given output range
+ * This Function will also allow the input to be scaled
+ * with a curve, It is not onyl linear.
+ *  
+ * @param originalMin - minimum input expected by function
+ *        originalMax - maximum input expected by function
+ *        newBegin - minimum input returned by the function
+ *        newEnd - maximum input returned by the function
+ *        inputValue - the value you want scaled
+ *        curve - excepts a value -10 through 10, 0 being linear
+ *                scaling the values with a curve
+ */
+float fScale( float original_min, float original_max, float new_begin, 
+              float new_end, float input_value, float curve)
+{
+
+    float original_range = 0;
+    float new_range = 0;
+    float zero_ref_cur_val = 0;
+    float normalized_cur_val = 0;
+    float ranged_value = 0;
+    boolean inv_flag = 0;
+
+
+    // condition curve parameter
+    // limit range
+    if (curve > 10) 
+    {
+        curve = 10;
+    }
+    if (curve < -10) 
+    {
+        curve = -10;
+    }
+
+    // - invert and scale - this seems more intuitive - 
+    //   postive numbers give more weight to high end on output
+    curve = (curve * -.1) ; 
+    // convert linear scale into lograthimic exponent for other pow function
+    curve = pow(10, curve);
+
+    // Check for out of range inputValues
+    if (input_value < original_min)
+    {
+        input_value = original_min;
+    }
+    if (input_value > original_max) 
+    {
+        input_value = original_max;
+    }
+
+    // Zero Refference the values
+    original_range = original_max - original_min;
+
+    if (new_end > new_begin)
+    {
+        new_range = new_end - new_begin;
+    }
+    else
+    {
+        new_range = new_begin - new_end;
+        inv_flag = 1;
+    }
+
+    zero_ref_cur_val = input_value - original_min;
+    
+    // normalize to 0 - 1 float
+    normalized_cur_val  =  zero_ref_cur_val / original_range;
+
+    // Check for originalMin > originalMax  - the math for all other cases 
+    //   i.e. negative numbers seems to work out fine
+    if (original_min > original_max ) 
+    {
+        return 0;
+    }
+
+    if (inv_flag == 0)
+    {
+        ranged_value =  (pow(normalized_cur_val, curve) * new_range) + new_begin;
+    }
+    else     // invert the ranges
+    {  
+      ranged_value =  new_begin - (pow(normalized_cur_val, curve) * new_range);
+    }
+
+    return ranged_value;
+}
+
+/**
+ * @brief The Function will change frequency of Timer 0
+ * 
+ * This function will change the frequency of the Timer 
+ * that controlls the PWM signal. This will alos effect 
+ * any other functions on Timer 0
+ */
+void set_pwm_frequency() 
+{
+
+    //set mode of timer 0
+    TCCR0B = TCCR0B & 0b11111000 | 0x02;
+
+    return;
+}
diff --git a/ros_ws/src/arudino/imu/imu.ino b/ros_ws/src/arudino/imu/imu.ino
deleted file mode 100644
index 85389a3..0000000
--- a/ros_ws/src/arudino/imu/imu.ino
+++ /dev/null
@@ -1,179 +0,0 @@
-#include <Wire.h>
-
-#define GYROADDR 0x68
-#define COMPASSADDR 0x1e
-#define ACCELADDR 0x53
-
-union XYZBuffer {
-  struct {
-    short x,y,z;
-  } value;
-  byte buff[6];
-};
-
-void changeEndian(union XYZBuffer *xyz) {
-  for (int i=0;i<6;i+=2) {
-    byte t=xyz->buff[i];
-    xyz->buff[i]=xyz->buff[i+1];
-    xyz->buff[i+1]=t;
-  }
-}
-
-// Generically useful reading into a union type
-void readXYZ(int device,union XYZBuffer *xyz) {     
-  Wire.requestFrom(device, 6);      
-  long start=millis();
-  while (!Wire.available() && (millis()-start)<100);
-  if (millis()-start<100) {
-    for (int i=0;i<6;i++)
-      xyz->buff[i]=Wire.read();
-  }
-}
-
-void setupAccel(int device) {
-  // Check ID to see if we are communicating
-  Wire.beginTransmission(device);
-  Wire.write(0x00); // One Reading
-  Wire.endTransmission(); 
-  Wire.requestFrom(device,1);
-  while (!Wire.available());  
-  byte ch=Wire.read();
-  Serial.print("Accel id is 0x");
-  Serial.println(ch,HEX);
-  // Should output E5
-
-  // https://www.sparkfun.com/datasheets/Sensors/Accelerometer/ADXL345.pdf
-  // Page 16
-  Wire.beginTransmission(device);
-  Wire.write(0x2d);
-  Wire.write(0x08);
-  Wire.endTransmission();
-  Wire.beginTransmission(device);
-  Wire.write(0x38);
-  Wire.write(0x84);
-  Wire.endTransmission();
-
-}
-void readAccel(int device,union XYZBuffer *xyz) {
-  Wire.beginTransmission(device);
-  Wire.write(0x32); // One Reading
-  Wire.endTransmission(); 
-  readXYZ(device,xyz);
-}
-
-void setupCompass(int device) {
-  // Check ID to see if we are communicating
-  Serial.print("Compass id is ");
-  Wire.beginTransmission(device);
-  Wire.write(10); // One Reading
-  Wire.endTransmission(); 
-  Wire.requestFrom(device,2); 
-  while (!Wire.available());
-  char ch=Wire.read();
-  Serial.print(ch);   
-  ch=Wire.read();
-  Serial.println(ch);
-  // Should output H4  
-
-// Page 18
-// at http://dlnmh9ip6v2uc.cloudfront.net/datasheets/Sensors/Magneto/HMC5883L-FDS.pdf
-  Wire.beginTransmission(device);
-  Wire.write(0x00); Wire.write(0x70);
-  Wire.endTransmission();
-  Wire.beginTransmission(device);
-  Wire.write(0x01); Wire.write(0xA0);
-  Wire.endTransmission();
-  Wire.beginTransmission(device);
-  Wire.write(0x02); Wire.write(0x00); //  Reading
-  Wire.endTransmission(); 
-  delay(6);
-}
-void readCompass(int device,union XYZBuffer *xyz) {
-  readXYZ(device,xyz);
-  changeEndian(xyz);
-  Wire.beginTransmission(device);
-  Wire.write(0x03);
-  Wire.endTransmission(); 
-}
-
-void setupGyro(int device) {
-  // Check ID to see if we are communicating
-  Wire.beginTransmission(device);
-  Wire.write(0x00); // One Reading
-  Wire.endTransmission(); 
-  Wire.requestFrom(device,1);
-  while (!Wire.available());  
-  byte ch=Wire.read();
-  Serial.print("Gyro id is 0x");
-  Serial.println(ch,HEX);  
-  // Should output 69
-}
-void readGyro(int device,union XYZBuffer *xyz) {
-  // https://www.sparkfun.com/datasheets/Sensors/Gyro/PS-ITG-3200-00-01.4.pdf
-  // page 20
-  Wire.beginTransmission(device);
-  Wire.write(0x1d);
-  Wire.endTransmission(); 
-  readXYZ(device,xyz);
-  changeEndian(xyz);  
-}
-
-void pad(int width,int number) {
-  int n=abs(number);
-  int w=width;
-  if (number<0) w--;
-  while (n>0) {
-    w--;
-    n/=10;
-  }
-  if (number==0) w--;
-  for (int i=0;i<w;i++) Serial.print(' ');
-}
-
-void output(union XYZBuffer xyz) {
-//  pad(6,xyz.value.x);
-  Serial.print(xyz.value.x);
-  Serial.print(',');
-//  pad(6,xyz.value.y);
-  Serial.print(xyz.value.y);
-  Serial.print(',');
-//  pad(6,xyz.value.z);
-  Serial.print(xyz.value.z);
-}
-
-void setup()
-{
-  Serial.begin(9600);  // start serial for output
-  Wire.begin();        // join i2c bus (address optional for master)
-  setupCompass(COMPASSADDR);
-  setupAccel(ACCELADDR);
-  setupGyro(GYROADDR);
-}
-
-void loop()
-{
-  union XYZBuffer compass,gyro,accel;
-  int l1,l2,l3,l4;
-  l1=analogRead(0);
-  l2=analogRead(1);
-  l3=analogRead(2);
-  l4=analogRead(3);
-  readAccel(ACCELADDR,&accel);
-  readCompass(COMPASSADDR,&compass);
-  readGyro(GYROADDR,&gyro);
-  Serial.print("A,");
-  output(accel);
-  Serial.print(",C,");
-  output(compass);
-  Serial.print(",G,");  
-  output(gyro);
-  Serial.print(",L,");
-  Serial.print(l1);
-  Serial.print(",");
-  Serial.print(l2);
-  Serial.print(",");
-  Serial.print(l3);
-  Serial.print(",");
-  Serial.print(l4);
-  Serial.println();
-}
diff --git a/ros_ws/src/arudino/motor/motor.ino b/ros_ws/src/arudino/motor/motor.ino
deleted file mode 100644
index b361a4a..0000000
--- a/ros_ws/src/arudino/motor/motor.ino
+++ /dev/null
@@ -1,275 +0,0 @@
-/**
- * @file motor.ino
- * @brief Controls the Motors
- * 
- * Code to be put on the Arduino based Motor Controllers
- * Converts Angular Velocity (Rad/Sec) to float (0-255)
- * 
- */
-
-#define USB_CON
-
-#include <ros.h>
-#include <std_msgs/Float64.h>
-
-/*************
- * Constants *
- *************/
- 
-/**
- * @brief Define Pi for use in conversion
- */
-const float PI_CONST = 3.14159265359;
- 
-/**
- * @brief Radians Per Second at full Throtle
- */
-const float MAX_RAD_SEC = 5;
-
-/**
- * @brief Pins used to control the Motor
- */
-const int FORWARD_PWM_PIN = 5;
-const int REVERSE_PWM_PIN = 6;
-const int ENABLE_PIN = A3;
-
-/**
- * @brief Const used to change the Motor Whine Divisor
- * 
- * This is set to 8 for IGVC Robot
- */
-const int FREQUENCY_DIVISOR = 8;
-
-/**
- * @brief Place to Change which Wheel we want to Program
- * 
- * In order to correctly inturpret the Wheel Velocity's, 
- *  we need to define which wheel we are uploading code to. 
- *  This will be used to insure that the proper wheel gets the
- *  Proper commands
- */
-#define RIGHT_WHEEL
-
-#if defined RIGHT_WHEEL
-const char* VELOCITY_TOPIC = "right_vel";
-#elif defined LEFT_WHEEL
-const char* VELOCITY_TOPIC = "left_vel";
-#endif
-
-/**
- * @brief Float used to scale the Speed to
- */
-float speed = 0;
-
-/************************
- * Forward Declerations *
- ************************/
-void velocityCallback(const std_msgs::Float64& msg);
-float fscale( float originalMin, float originalMax, float newBegin, 
-              float newEnd, float inputValue, float curve);
-
-/**
- * @brief ROS node handle
- */
-ros::NodeHandle nodeHandle;
-
-/**
- * @brief ROS Subscriber for the Velocity Message
- */
-ros::Subscriber<std_msgs::Float64> velocitySub(VELOCITY_TOPIC, &velocityCallback);
-
-/**
- * @brief The callback function for velocity messages
- * 
- * This function accepts velocity messages and convertes them into wheel speeds
- * This will convert a float into an intger(0-255)
- * 
- * @param msg The message witch is recived from the velocity publisher
- */
-void velocityCallback(const std_msgs::Float64& msg)
-{
-    speed = fscale(0, MAX_RAD_SEC, 0, 255, abs(msg.data), 0);
-    if(msg.data > 0)
-    {
-        //Go Forward
-        digitalWrite(ENABLE_PIN, HIGH);
-        analogWrite(FORWARD_PWM_PIN, speed);
-        analogWrite(REVERSE_PWM_PIN, 0);
-    }
-    else if(msg.data < 0)
-    {
-        //Go in Reverse
-        digitalWrite(ENABLE_PIN, HIGH);
-        analogWrite(FORWARD_PWM_PIN, 0);
-        analogWrite(REVERSE_PWM_PIN, speed);
-    }
-    else
-    {
-        //active break
-        digitalWrite(ENABLE_PIN, HIGH);
-        analogWrite(FORWARD_PWM_PIN, 0);
-        analogWrite(REVERSE_PWM_PIN, 0);
-    }
-}
-
-void setup() 
-{
-    //Fix the Motor Whine
-    //After testing on IGVC 8 gave the best results
-    set_pwm_frequency(FREQUENCY_DIVISOR);
-
-    //setup pins
-    pinMode(FORWARD_PWM_PIN, OUTPUT);
-    pinMode(REVERSE_PWM_PIN, OUTPUT);
-    pinMode(ENABLE_PIN, OUTPUT);
-
-    //Set Robot to break when starting
-    digitalWrite(ENABLE_PIN, HIGH);
-    analogWrite(FORWARD_PWM_PIN, 0);
-    analogWrite(REVERSE_PWM_PIN, 0);
-
-    //Setup ROS node and topics
-    nodeHandle.initNode();
-    nodeHandle.subscribe(velocitySub);
-}
-
-void loop() 
-{
-    nodeHandle.spinOnce();
-}
-
-
-
-
-
-/**
- * @brief The Function will Scale the Input to the Expected Output
- * 
- * This function accepts the input value, and input range,
- * It will the scale the value to the expected output inside
- * the given output range
- * This Function will also allow the input to be scaled
- * with a curve, It is not onyl linear.
- *  
- * @param originalMin - minimum input expected by function
- *        originalMax - maximum input expected by function
- *        newBegin - minimum input returned by the function
- *        newEnd - maximum input returned by the function
- *        inputValue - the value you want scaled
- *        curve - excepts a value -10 through 10, 0 being linear
- *                scaling the values with a curve
- */
-float fscale( float originalMin, float originalMax, float newBegin, 
-              float newEnd, float inputValue, float curve)
-{
-
-    float OriginalRange = 0;
-    float NewRange = 0;
-    float zeroRefCurVal = 0;
-    float normalizedCurVal = 0;
-    float rangedValue = 0;
-    boolean invFlag = 0;
-
-
-    // condition curve parameter
-    // limit range
-    if (curve > 10) 
-    {
-        curve = 10;
-    }
-    if (curve < -10) 
-    {
-        curve = -10;
-    }
-
-    // - invert and scale - this seems more intuitive - 
-    //   postive numbers give more weight to high end on output
-    curve = (curve * -.1) ; 
-    // convert linear scale into lograthimic exponent for other pow function
-    curve = pow(10, curve);
-
-    // Check for out of range inputValues
-    if (inputValue < originalMin)
-    {
-        inputValue = originalMin;
-    }
-    if (inputValue > originalMax) 
-    {
-        inputValue = originalMax;
-    }
-
-    // Zero Refference the values
-    OriginalRange = originalMax - originalMin;
-
-    if (newEnd > newBegin)
-    {
-        NewRange = newEnd - newBegin;
-    }
-    else
-    {
-        NewRange = newBegin - newEnd;
-        invFlag = 1;
-    }
-
-    zeroRefCurVal = inputValue - originalMin;
-    
-    // normalize to 0 - 1 float
-    normalizedCurVal  =  zeroRefCurVal / OriginalRange;
-
-    // Check for originalMin > originalMax  - the math for all other cases 
-    //   i.e. negative numbers seems to work out fine
-    if (originalMin > originalMax ) 
-    {
-        return 0;
-    }
-
-    if (invFlag == 0)
-    {
-        rangedValue =  (pow(normalizedCurVal, curve) * NewRange) + newBegin;
-    }
-    else     // invert the ranges
-    {  
-      rangedValue =  newBegin - (pow(normalizedCurVal, curve) * NewRange);
-    }
-
-    return rangedValue;
-}
-
-
-/**
- * @brief The Function will change frequency of Timer 0
- * 
- * This function accepts as input a divisor that will change
- * the frequency of the Timer that controlls the PWM signal
- *  
- * @param divisor -what we divide the timer frequency by
- */
-void set_pwm_frequency(int divisor) 
-{
-    byte mode;
-    switch(divisor) 
-    {
-      case 1: 
-          mode = 0x01; 
-          break;
-      case 8: 
-          mode = 0x02; 
-          break;
-      case 64: 
-          mode = 0x03; 
-          break;
-      case 256: 
-          mode = 0x04;
-          break;
-      case 1024: 
-          mode = 0x05; 
-          break;
-      default: 
-          return;
-    }
-
-    //set mode of timer 0
-    TCCR0B = TCCR0B & 0b11111000 | mode;
-
-    return;
-}
diff --git a/ros_ws/src/control/CMakeLists.txt b/ros_ws/src/control/CMakeLists.txt
index 27616ba..fb2d6a0 100644
--- a/ros_ws/src/control/CMakeLists.txt
+++ b/ros_ws/src/control/CMakeLists.txt
@@ -6,8 +6,16 @@ find_package(catkin REQUIRED COMPONENTS
     roscpp
     std_msgs
     sensor_msgs
+    message_generation
 )
 
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+## Generate message in the 'msg' folder
+add_message_files(FILES Encoder.msg)
+generate_messages(DEPENDENCIES std_msgs)
+
 ###################################
 ## catkin specific configuration ##
 ###################################
@@ -16,6 +24,7 @@ catkin_package(
     LIBRARIES control
     CATKIN_DEPENDS geometry_msgs roscpp std_msgs sensor_msgs
     DEPENDS system_lib
+    CATKIN_DEPENDS message_runtime
 )
 
 ###########
diff --git a/ros_ws/src/control/msg/Encoder.msg b/ros_ws/src/control/msg/Encoder.msg
new file mode 100644
index 0000000..af1b739
--- /dev/null
+++ b/ros_ws/src/control/msg/Encoder.msg
@@ -0,0 +1,2 @@
+Header header
+uint8 ticks
diff --git a/ros_ws/src/control/package.xml b/ros_ws/src/control/package.xml
index f1af59c..87a9313 100644
--- a/ros_ws/src/control/package.xml
+++ b/ros_ws/src/control/package.xml
@@ -18,9 +18,11 @@
   <build_depend>roscpp</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>sensor_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
 
-</package>
\ No newline at end of file
+</package>