diff --git a/CMakeLists.txt b/CMakeLists.txt
index f9f6b0d..101fafb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,6 +17,8 @@ find_package(std_msgs REQUIRED)
 
 set(msg_files
     "msg/Bounds.msg"
+    "msg/Collision.msg"
+    "msg/Collisions.msg"
     "msg/EntityCategory.msg"
     "msg/EntityFilters.msg"
     "msg/EntityInfo.msg"
diff --git a/msg/Collision.msg b/msg/Collision.msg
new file mode 100644
index 0000000..c50143c
--- /dev/null
+++ b/msg/Collision.msg
@@ -0,0 +1,5 @@
+geometry_msgs/Point location  # Using Collisions.header
+
+# Unique names for the two entities in collision
+string entity0
+string entity1
diff --git a/msg/Collisions.msg b/msg/Collisions.msg
new file mode 100644
index 0000000..26e05c0
--- /dev/null
+++ b/msg/Collisions.msg
@@ -0,0 +1,4 @@
+# The header contains the timestamp for the detection
+# and the frame that each collision's location is reported in
+std_msgs/Header header
+simulation_interfaces/Collision[] collisions