diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
index 3fe67f2..441a51e 100644
--- a/control_msgs/CMakeLists.txt
+++ b/control_msgs/CMakeLists.txt
@@ -45,6 +45,7 @@ set(msg_files
   msg/SteeringControllerStatus.msg
   msg/SteeringControllerCommand.msg
   msg/SpeedScalingFactor.msg
+  msg/VDA5050SafetyState.msg
   msg/VDA5050State.msg
   msg/WrenchFramed.msg
 )
diff --git a/control_msgs/msg/VDA5050SafetyState.msg b/control_msgs/msg/VDA5050SafetyState.msg
new file mode 100644
index 0000000..3adfb74
--- /dev/null
+++ b/control_msgs/msg/VDA5050SafetyState.msg
@@ -0,0 +1,12 @@
+string e_stop           # Enum {autoAck, manual, remote, none} Acknowledge-Type of eStop:
+                        # autoAck: autoacknowledgeable e-stop is activated e.g. by bumper or protective field
+                        # manual: e-stop has to be acknowledged manually at the vehicle
+                        # remote: facility estop has to be acknowledged remotely
+                        # none: no e-stop activated
+bool field_violation    # Protective field violation. True: field is violated False: field is not violated
+
+# Enums for eStop
+string AUTO_ACK="autoAck"
+string MANUAL="manual"
+string REMOTE="remote"
+string NONE="none"