diff --git a/CMakeLists.txt b/CMakeLists.txt
index 70fd0c8..aff393a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -42,6 +42,8 @@ set(MSG_FILES
     CarlaV2XCustomData.msg
     CarlaV2XCustomDataList.msg
     CarlaV2XCustomMessage.msg
+    CarlaV2XData.msg
+    CarlaV2XDataList.msg
     CarlaWalkerControl.msg
     CarlaWeatherParameters.msg
     CarlaWorldInfo.msg
diff --git a/msg/CarlaV2XData.idl b/msg/CarlaV2XData.idl
new file mode 100644
index 0000000..20f0f88
--- /dev/null
+++ b/msg/CarlaV2XData.idl
@@ -0,0 +1,21 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from carla_msgs/msg/CarlaV2XData.msg
+// generated code does not contain a copyright notice
+#pragma once
+
+#include "etsi_its_cam_msgs/msg/CAM.idl"
+
+module carla_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+      "Copyright (c) 2024 Intel Corporation." "\n"
+      "" "\n"
+      "This work is licensed under the terms of the MIT license." "\n"
+      "For a copy, see <https://opensource.org/licenses/MIT>.")
+    struct CarlaV2XData {
+      float power;
+
+      etsi_its_cam_msgs::msg::CAM message;
+    };
+  };
+};
diff --git a/msg/CarlaV2XData.msg b/msg/CarlaV2XData.msg
new file mode 100644
index 0000000..5b58a4d
--- /dev/null
+++ b/msg/CarlaV2XData.msg
@@ -0,0 +1,10 @@
+#
+# Copyright (c) 2024 Intel Corporation.
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+#
+
+float32 power
+etsi_its_cam_msgs/CAM message
+
diff --git a/msg/CarlaV2XDataList.idl b/msg/CarlaV2XDataList.idl
new file mode 100644
index 0000000..69aedf0
--- /dev/null
+++ b/msg/CarlaV2XDataList.idl
@@ -0,0 +1,19 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from carla_msgs/msg/CarlaV2XDataList.msg
+// generated code does not contain a copyright notice
+#pragma once
+
+#include "carla_msgs/msg/CarlaV2XData.idl"
+
+module carla_msgs {
+  module msg {
+    @verbatim (language="comment", text=
+      "Copyright (c) 2024 Intel Corporation." "\n"
+      "" "\n"
+      "This work is licensed under the terms of the MIT license." "\n"
+      "For a copy, see <https://opensource.org/licenses/MIT>.")
+    struct CarlaV2XDataList {
+      sequence<carla_msgs::msg::CarlaV2XData> data;
+    };
+  };
+};
diff --git a/msg/CarlaV2XDataList.msg b/msg/CarlaV2XDataList.msg
new file mode 100644
index 0000000..ee50450
--- /dev/null
+++ b/msg/CarlaV2XDataList.msg
@@ -0,0 +1,8 @@
+#
+# Copyright (c) 2024 Intel Corporation.
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+#
+
+carla_msgs/CarlaV2XData[] data
\ No newline at end of file