diff --git a/homer_ptu_msgs/CHANGELOG.rst b/homer_ptu_msgs/CHANGELOG.rst
new file mode 100644
index 0000000000000000000000000000000000000000..8c6c116f83c1dbb121887bbacb2fa8d965b117d7
--- /dev/null
+++ b/homer_ptu_msgs/CHANGELOG.rst
@@ -0,0 +1,6 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package homer_ptu_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Forthcoming
+-----------
diff --git a/homer_ptu_msgs/CMakeLists.txt b/homer_ptu_msgs/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5adc0800f89cf821f1d14cdc452be706de7a6481
--- /dev/null
+++ b/homer_ptu_msgs/CMakeLists.txt
@@ -0,0 +1,114 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(homer_ptu_msgs)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ roslib
+ std_msgs
+ geometry_msgs
+ message_generation
+ cmake_modules
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependencies might have been
+## pulled in transitively but can be declared for certainty nonetheless:
+## * add a build_depend tag for "message_generation"
+## * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+ add_message_files(
+ FILES
+ SetPanTilt.msg
+ CenterWorldPoint.msg
+# Message2.msg
+)
+
+## Generate services in the 'srv' folder
+add_service_files(
+ FILES
+ CenterWorldPointService.srv
+)
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+ generate_messages(
+ DEPENDENCIES
+ std_msgs
+ geometry_msgs
+ )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES ptu
+ CATKIN_DEPENDS roscpp std_msgs geometry_msgs message_runtime
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(ptu
+# src/${PROJECT_NAME}/ptu.cpp
+# )
+
+## Declare a cpp executable
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+
+## Specify libraries to link a library or executable target against
diff --git a/homer_ptu_msgs/msg/CenterWorldPoint.msg b/homer_ptu_msgs/msg/CenterWorldPoint.msg
new file mode 100644
index 0000000000000000000000000000000000000000..4072232fbeddfa172bdea2ad87e2b92cb3efac79
--- /dev/null
+++ b/homer_ptu_msgs/msg/CenterWorldPoint.msg
@@ -0,0 +1,2 @@
+geometry_msgs/Vector3 point
+bool permanent
diff --git a/homer_ptu_msgs/msg/SetPanTilt.msg b/homer_ptu_msgs/msg/SetPanTilt.msg
new file mode 100644
index 0000000000000000000000000000000000000000..9d7bfe7414ebe150aaba9999ba169b2891bb97fb
--- /dev/null
+++ b/homer_ptu_msgs/msg/SetPanTilt.msg
@@ -0,0 +1,3 @@
+float32 panAngle
+float32 tiltAngle
+bool absolute
diff --git a/homer_ptu_msgs/package.xml b/homer_ptu_msgs/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..df6bf60d2aa9994f126853882b8fd881a98c208e
--- /dev/null
+++ b/homer_ptu_msgs/package.xml
@@ -0,0 +1,63 @@
+<?xml version="1.0"?>
+<package>
+ <name>homer_ptu_msgs</name>
+ <version>0.1.0</version>
+ <description>The ptu_msgs package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="vseib@todo.todo">vseib</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>TODO</license>
+
+
+ <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/ptu</url> -->
+
+
+ <!-- Author tags are optional, mutiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintianers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *_depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use run_depend for packages you need at runtime: -->
+ <!-- <run_depend>message_runtime</run_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+
+ <build_depend>message_generation</build_depend>
+ <run_depend>message_runtime</run_depend>
+
+ <run_depend>roscpp</run_depend>
+ <build_depend>roscpp</build_depend>
+
+ <run_depend>std_msgs</run_depend>
+ <build_depend>std_msgs</build_depend>
+
+ <build_depend>geometry_msgs</build_depend>
+ <run_depend>geometry_msgs</run_depend>
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- You can specify that this package is a metapackage here: -->
+ <!-- <metapackage/> -->
+
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
diff --git a/homer_ptu_msgs/srv/CenterWorldPointService.srv b/homer_ptu_msgs/srv/CenterWorldPointService.srv
new file mode 100644
index 0000000000000000000000000000000000000000..eba49f6c9eee1b8e4e30a3aba14c24b224e9fb00
--- /dev/null
+++ b/homer_ptu_msgs/srv/CenterWorldPointService.srv
@@ -0,0 +1,2 @@
+geometry_msgs/PointStamped point
+---