diff --git a/shape_msgs/CMakeLists.txt b/shape_msgs/CMakeLists.txt
index a97892de..af10a3db 100644
--- a/shape_msgs/CMakeLists.txt
+++ b/shape_msgs/CMakeLists.txt
@@ -16,6 +16,7 @@ find_package(geometry_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 set(msg_files
+  "msg/Bounds.msg"
   "msg/Mesh.msg"
   "msg/MeshTriangle.msg"
   "msg/Plane.msg"
diff --git a/shape_msgs/msg/Bounds.msg b/shape_msgs/msg/Bounds.msg
new file mode 100644
index 00000000..ed16b892
--- /dev/null
+++ b/shape_msgs/msg/Bounds.msg
@@ -0,0 +1,25 @@
+# Bounds which are useful in several contexts, e.g. to avoid spawning with other object overlap,
+# or parking in a spot that is too small.
+# Certain goals or points might be valid for a small object, but not suitable for a large one,
+# or a differently shaped one.
+# Bounds can be also checked to ensure certain scenario conditions are met.
+# For entities, these limits are relative to entity's canonical link transform, following ROS rep-103 convention.
+
+# As bounds are optional in most interfaces, TYPE_EMPTY signifies empty bounds, to be understood as "unbounded".
+# Otherwise, the fields are expected to define a valid volume.
+# For spawning with a named pose, you should check whether the entity simulation model fits within the bounds
+# before calling SpawnEntity, to avoid overlaps and unstable behavior.
+
+# bounds type
+uint8 TYPE_EMPTY         = 0      # No bounds. The points vector will be empty.
+uint8 TYPE_BOX           = 1      # Axis-aligned bounding box, points field should have two values,
+                                  # which are upper right and lower left corners of the box.
+uint8 TYPE_CONVEX_HULL   = 2      # Points define a convex hull (at least 3 non-collinear points).
+uint8 TYPE_SPHERE        = 3      # A sphere with center and radius. First element of points vector is the center.
+                                  # The x field of the second point of the vector is the radius (y and z are ignored).
+
+
+uint8 type
+geometry_msgs/Vector3[] points           # Points defining the bounded area. Check type field to determine semantics.
+                                         # Valid sizes are zero (no bounds), 2 (sphere or box, depending on type field),
+                                         # and 3 or more (convex hull).