diff --git a/grid_map_geo/package.xml b/grid_map_geo/package.xml
index 4df2907..996c7b7 100644
--- a/grid_map_geo/package.xml
+++ b/grid_map_geo/package.xml
@@ -17,7 +17,6 @@
   <build_depend>eigen_catkin</build_depend>
   <build_depend>grid_map_core</build_depend>
   <build_depend>grid_map_ros</build_depend>
-  <build_depend>geo_map_msgs</build_depend>
   <run_depend>eigen_catkin</run_depend>
   <export>
   </export>
diff --git a/grid_map_geo_msgs/CMakeLists.txt b/grid_map_geo_msgs/CMakeLists.txt
new file mode 100644
index 0000000..cc0f05f
--- /dev/null
+++ b/grid_map_geo_msgs/CMakeLists.txt
@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(grid_map_geo_msgs)
+
+find_package(catkin REQUIRED COMPONENTS message_generation std_msgs)
+
+include_directories(include)
+
+add_message_files(
+  DIRECTORY msg
+  FILES
+  GeographicMapInfo.msg
+)
+
+generate_messages(DEPENDENCIES std_msgs)
+
+catkin_package(
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS message_runtime std_msgs)
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..91a7412
--- /dev/null
+++ b/grid_map_geo_msgs/package.xml
@@ -0,0 +1,24 @@
+<?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>catkin</buildtool_depend>
+  <build_depend>message_generation</build_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <depend>std_msgs</depend>
+  <!-- XXX needed for users of mavlink_convert.h
+  <build_export_depend>libmavconn</build_export_depend>
+  -->
+
+  <export>
+    <architecture_independent/>
+  </export>
+</package>