diff --git a/CMakeLists.txt b/grid_map_geo/CMakeLists.txt
similarity index 100%
rename from CMakeLists.txt
rename to grid_map_geo/CMakeLists.txt
diff --git a/include/grid_map_geo/grid_map_geo.hpp b/grid_map_geo/include/grid_map_geo/grid_map_geo.hpp
similarity index 100%
rename from include/grid_map_geo/grid_map_geo.hpp
rename to grid_map_geo/include/grid_map_geo/grid_map_geo.hpp
diff --git a/include/grid_map_geo/transform.hpp b/grid_map_geo/include/grid_map_geo/transform.hpp
similarity index 100%
rename from include/grid_map_geo/transform.hpp
rename to grid_map_geo/include/grid_map_geo/transform.hpp
diff --git a/launch/load_multiple_tif_launch.xml b/grid_map_geo/launch/load_multiple_tif_launch.xml
similarity index 100%
rename from launch/load_multiple_tif_launch.xml
rename to grid_map_geo/launch/load_multiple_tif_launch.xml
diff --git a/launch/load_tif.launch.py b/grid_map_geo/launch/load_tif.launch.py
similarity index 100%
rename from launch/load_tif.launch.py
rename to grid_map_geo/launch/load_tif.launch.py
diff --git a/launch/load_tif_launch.xml b/grid_map_geo/launch/load_tif_launch.xml
similarity index 100%
rename from launch/load_tif_launch.xml
rename to grid_map_geo/launch/load_tif_launch.xml
diff --git a/package.xml b/grid_map_geo/package.xml
similarity index 100%
rename from package.xml
rename to grid_map_geo/package.xml
diff --git a/resources/.gitkeep b/grid_map_geo/resources/.gitkeep
similarity index 100%
rename from resources/.gitkeep
rename to grid_map_geo/resources/.gitkeep
diff --git a/rviz/config.rviz b/grid_map_geo/rviz/config.rviz
similarity index 100%
rename from rviz/config.rviz
rename to grid_map_geo/rviz/config.rviz
diff --git a/rviz/multi_config.rviz b/grid_map_geo/rviz/multi_config.rviz
similarity index 100%
rename from rviz/multi_config.rviz
rename to grid_map_geo/rviz/multi_config.rviz
diff --git a/src/grid_map_geo.cpp b/grid_map_geo/src/grid_map_geo.cpp
similarity index 100%
rename from src/grid_map_geo.cpp
rename to grid_map_geo/src/grid_map_geo.cpp
diff --git a/src/test_tif_loader.cpp b/grid_map_geo/src/test_tif_loader.cpp
similarity index 100%
rename from src/test_tif_loader.cpp
rename to grid_map_geo/src/test_tif_loader.cpp
diff --git a/src/transform.cpp b/grid_map_geo/src/transform.cpp
similarity index 100%
rename from src/transform.cpp
rename to grid_map_geo/src/transform.cpp
diff --git a/test/export/CMakeLists.txt b/grid_map_geo/test/export/CMakeLists.txt
similarity index 100%
rename from test/export/CMakeLists.txt
rename to grid_map_geo/test/export/CMakeLists.txt
diff --git a/test/export/main.cpp b/grid_map_geo/test/export/main.cpp
similarity index 100%
rename from test/export/main.cpp
rename to grid_map_geo/test/export/main.cpp
diff --git a/test/unit/CMakeLists.txt b/grid_map_geo/test/unit/CMakeLists.txt
similarity index 100%
rename from test/unit/CMakeLists.txt
rename to grid_map_geo/test/unit/CMakeLists.txt
diff --git a/test/unit/main.cpp b/grid_map_geo/test/unit/main.cpp
similarity index 100%
rename from test/unit/main.cpp
rename to grid_map_geo/test/unit/main.cpp
diff --git a/test/unit/test_grid_map_geo.cpp b/grid_map_geo/test/unit/test_grid_map_geo.cpp
similarity index 100%
rename from test/unit/test_grid_map_geo.cpp
rename to grid_map_geo/test/unit/test_grid_map_geo.cpp
diff --git a/grid_map_geo_msgs/CMakeLists.txt b/grid_map_geo_msgs/CMakeLists.txt
new file mode 100644
index 0000000..1b754df
--- /dev/null
+++ b/grid_map_geo_msgs/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.5)
+project(grid_map_geo_msgs)
+
+find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/GeographicMapInfo.msg"
+  DEPENDENCIES std_msgs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/grid_map_geo_msgs/include/dummy b/grid_map_geo_msgs/include/dummy
new file mode 100644
index 0000000..e69de29
diff --git a/grid_map_geo_msgs/msg/GeographicMapInfo.msg b/grid_map_geo_msgs/msg/GeographicMapInfo.msg
new file mode 100644
index 0000000..6bad139
--- /dev/null
+++ b/grid_map_geo_msgs/msg/GeographicMapInfo.msg
@@ -0,0 +1,26 @@
+# Geomap Message
+#
+
+std_msgs/Header header
+
+
+# ESPG of the coordinate the map is in
+uint16 geo_coordinate
+
+# Size of the map in pixels
+uint16 width
+uint16 height
+
+
+# Resolution of the map
+float64 x_resolution
+float64 y_resolution
+
+# x value in the specified geocoordinate system
+float64 origin_x
+
+# y value in the specified geocoordinate system
+float64 origin_y
+
+# Altitude in the specified vertical datum
+float64 origin_altitude
diff --git a/grid_map_geo_msgs/package.xml b/grid_map_geo_msgs/package.xml
new file mode 100644
index 0000000..efe8784
--- /dev/null
+++ b/grid_map_geo_msgs/package.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>grid_map_geo_msgs</name>
+  <version>0.0.1</version>
+  <description>
+   geomap_msgs includes the definition for custom services and messages for the grid_map_geo package.
+  </description>
+
+  <maintainer email="jalim@student.ethz.ch">Jaeyoung Lim</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>std_msgs</depend>
+  <depend>rosidl_default_generators</depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>