diff --git a/CMakeLists.txt b/CMakeLists.txt
index eafa543..5cc3b13 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,6 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
 add_message_files(DIRECTORY msg
    FILES
    cone_msg.msg
+   mur_drive_cmd.msg
  )
 
 generate_messages(
diff --git a/msg/mur_drive_cmd.msg b/msg/mur_drive_cmd.msg
new file mode 100644
index 0000000..5bc488a
--- /dev/null
+++ b/msg/mur_drive_cmd.msg
@@ -0,0 +1,5 @@
+Header header
+# Straightline velocity 
+float32 vel
+# angular velocity 
+float32 omega
diff --git a/src/state_machine.cpp b/src/state_machine.cpp
new file mode 100644
index 0000000..a981560
--- /dev/null
+++ b/src/state_machine.cpp
@@ -0,0 +1,8 @@
+#include "state_machine.h"
+
+
+void main()
+{
+    
+} 
+}
\ No newline at end of file
diff --git a/src/state_machine.h b/src/state_machine.h
new file mode 100644
index 0000000..5196831
--- /dev/null
+++ b/src/state_machine.h
@@ -0,0 +1,31 @@
+#ifndef STATE_MACHINE_H
+#define STATE_MACHINE_H
+#include "ros.h"
+
+
+class mur_state
+{
+private:
+    // States that this node will track
+    bool perceptionReady; 
+    bool slamReady;
+    bool localReady;
+    bool lidarReady;
+    bool camReady;
+    
+
+    
+public:
+    mur_state(/* args */);
+    ~mur_state();
+};
+
+mur_state::mur_state(/* args */)
+{
+}
+
+mur_state::~mur_state()
+{
+}
+
+#endif
\ No newline at end of file