diff --git a/sensor_msgs/CMakeLists.txt b/sensor_msgs/CMakeLists.txt
index 530141e3..35c55e56 100644
--- a/sensor_msgs/CMakeLists.txt
+++ b/sensor_msgs/CMakeLists.txt
@@ -22,6 +22,7 @@ set(msg_files
   "msg/CameraInfo.msg"
   "msg/ChannelFloat32.msg"
   "msg/CompressedImage.msg"
+  "msg/Contact.msg"
   "msg/FluidPressure.msg"
   "msg/Illuminance.msg"
   "msg/Image.msg"
diff --git a/sensor_msgs/msg/Contact.msg b/sensor_msgs/msg/Contact.msg
new file mode 100644
index 00000000..c225b6a9
--- /dev/null
+++ b/sensor_msgs/msg/Contact.msg
@@ -0,0 +1,6 @@
+# This is a message to hold data from simple contact
+
+std_msgs/Header header      # timestamp is the time the contact was measured
+                              # frame_id is the location of the contact sensor
+
+bool contact                # True if there is contact
\ No newline at end of file