diff --git a/CMakeLists.txt b/CMakeLists.txt
index 330d97eb..badb7105 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,6 +31,8 @@ find_package(PCL REQUIRED)
 add_message_files(
   FILES
   YoloResult.msg
+  Detection2D.msg
+  Detection2DArray.msg
 )
 
 generate_messages(
diff --git a/include/tracker_with_cloud_node/tracker_with_cloud_node.h b/include/tracker_with_cloud_node/tracker_with_cloud_node.h
index 6b98ae5a..c9709819 100644
--- a/include/tracker_with_cloud_node/tracker_with_cloud_node.h
+++ b/include/tracker_with_cloud_node/tracker_with_cloud_node.h
@@ -24,10 +24,12 @@
 #include <std_msgs/Header.h>
 #include <visualization_msgs/Marker.h>
 #include <visualization_msgs/MarkerArray.h>
-#include <vision_msgs/Detection2DArray.h>
 #include <vision_msgs/Detection3D.h>
 #include <vision_msgs/Detection3DArray.h>
+
 #include <ultralytics_ros/YoloResult.h>
+#include <ultralytics_ros/Detection2D.h>
+
 #include <geometry_msgs/TransformStamped.h>
 #include <tf2_ros/transform_listener.h>
 #include <message_filters/subscriber.h>
@@ -89,7 +91,7 @@ class TrackerWithCloudNode
                     vision_msgs::Detection3DArray& detections3d_msg,
                     sensor_msgs::PointCloud2& combine_detection_cloud_msg);
   void processPointsWithBbox(const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud,
-                             const vision_msgs::Detection2D& detection,
+                             const ultralytics_ros::Detection2D& detection,
                              pcl::PointCloud<pcl::PointXYZ>::Ptr& detection_cloud_raw);
   void processPointsWithMask(const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud, const sensor_msgs::Image& mask,
                              pcl::PointCloud<pcl::PointXYZ>::Ptr& detection_cloud_raw);
diff --git a/msg/Detection2D.msg b/msg/Detection2D.msg
new file mode 100644
index 00000000..ededf20b
--- /dev/null
+++ b/msg/Detection2D.msg
@@ -0,0 +1,17 @@
+# Defines a 2D detection result.
+#
+# This is similar to a 2D classification, but includes position information,
+#   allowing a classification result for a specific crop or image point to
+#   to be located in the larger image.
+
+std_msgs/Header header
+int8 track_id
+# Class probabilities
+vision_msgs/ObjectHypothesisWithPose[] results
+
+# 2D bounding box surrounding the object.
+vision_msgs/BoundingBox2D bbox
+
+# The 2D data that generated these results (i.e. region proposal cropped out of
+#   the image). Not required for all use cases, so it may be empty.
+sensor_msgs/Image source_img
\ No newline at end of file
diff --git a/msg/Detection2DArray.msg b/msg/Detection2DArray.msg
new file mode 100644
index 00000000..7d05be04
--- /dev/null
+++ b/msg/Detection2DArray.msg
@@ -0,0 +1,7 @@
+# A list of 2D detections, for a multi-object 2D detector.
+
+std_msgs/Header header
+
+# A list of the detected proposals. A multi-proposal detector might generate
+#   this list with many candidate detections generated from a single input.
+Detection2D[] detections
diff --git a/msg/YoloResult.msg b/msg/YoloResult.msg
index c00e0b1a..1857fb7e 100644
--- a/msg/YoloResult.msg
+++ b/msg/YoloResult.msg
@@ -1,3 +1,3 @@
 std_msgs/Header header
-vision_msgs/Detection2DArray detections
-sensor_msgs/Image[] masks
+Detection2DArray detections
+sensor_msgs/Image[] masks
\ No newline at end of file
diff --git a/script/tracker_node.py b/script/tracker_node.py
index 2d78145d..dd74a3c6 100755
--- a/script/tracker_node.py
+++ b/script/tracker_node.py
@@ -23,8 +23,8 @@
 import rospy
 from sensor_msgs.msg import Image
 from ultralytics import YOLO
-from vision_msgs.msg import Detection2D, Detection2DArray, ObjectHypothesisWithPose
-from ultralytics_ros.msg import YoloResult
+from vision_msgs.msg import ObjectHypothesisWithPose
+from ultralytics_ros.msg import YoloResult, Detection2D, Detection2DArray
 
 
 class TrackerNode:
@@ -91,11 +91,15 @@ def image_callback(self, msg):
 
     def create_detections_array(self, results):
         detections_msg = Detection2DArray()
+        track_ids = results[0].boxes.id
         bounding_box = results[0].boxes.xywh
         classes = results[0].boxes.cls
         confidence_score = results[0].boxes.conf
-        for bbox, cls, conf in zip(bounding_box, classes, confidence_score):
+        if track_ids is None:
+            track_ids = [0]
+        for bbox, cls, conf, track_id in zip(bounding_box, classes, confidence_score, track_ids):
             detection = Detection2D()
+            detection.track_id = int(track_id)
             detection.bbox.center.x = float(bbox[0])
             detection.bbox.center.y = float(bbox[1])
             detection.bbox.size_x = float(bbox[2])
diff --git a/src/tracker_with_cloud_node.cpp b/src/tracker_with_cloud_node.cpp
index c8f56687..c8e0ce08 100644
--- a/src/tracker_with_cloud_node.cpp
+++ b/src/tracker_with_cloud_node.cpp
@@ -106,7 +106,7 @@ void TrackerWithCloudNode::projectCloud(const pcl::PointCloud<pcl::PointXYZ>::Pt
 }
 
 void TrackerWithCloudNode::processPointsWithBbox(const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud,
-                                                 const vision_msgs::Detection2D& detection,
+                                                 const ultralytics_ros::Detection2D& detection,
                                                  pcl::PointCloud<pcl::PointXYZ>::Ptr& detection_cloud_raw)
 {
   for (const auto& point : cloud->points)