diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
index 7bdd72b..97daf06 100644
--- a/control_msgs/CMakeLists.txt
+++ b/control_msgs/CMakeLists.txt
@@ -19,6 +19,7 @@ find_package(std_msgs REQUIRED)
 find_package(trajectory_msgs REQUIRED)
 
 set(msg_files
+  msg/AdmittanceControllerState.msg
   msg/DynamicJointState.msg
   msg/GripperCommand.msg
   msg/InterfaceValue.msg
diff --git a/control_msgs/msg/AdmittanceControllerState.msg b/control_msgs/msg/AdmittanceControllerState.msg
new file mode 100644
index 0000000..c71cd6f
--- /dev/null
+++ b/control_msgs/msg/AdmittanceControllerState.msg
@@ -0,0 +1,22 @@
+geometry_msgs/WrenchStamped input_wrench_command  #commanded input wrench for the controller
+geometry_msgs/PoseStamped input_pose_command     #commanded input pose for the controller
+trajectory_msgs/JointTrajectory input_joint_command  # commanded input JointTrajectory (used only first point)
+
+geometry_msgs/WrenchStamped input_wrench_control_frame  # input wrench transformed into control frame
+geometry_msgs/PoseStamped input_pose_control_frame     # input pose transformed into control frame
+
+geometry_msgs/WrenchStamped measured_wrench           # measured wrench from the sensor (sensor frame)
+geometry_msgs/WrenchStamped measured_wrench_filtered  # measured wrench after low-pass and gravity compensation filters in sensor frame
+geometry_msgs/WrenchStamped measured_wrench_control_frame  # transformed measured wrench to control frame
+geometry_msgs/WrenchStamped measured_wrench_endeffector_frame  # measured wrench transformed to endeffector
+
+trajectory_msgs/JointTrajectoryPoint admittance_rule_calculated_values  # Values calculated by admittance rule (Cartesian space: [x, y, z, rx, ry, rz]) - position = pose_error; effort = measured_wrench
+
+geometry_msgs/PoseStamped current_pose                # Current pose from FK
+geometry_msgs/PoseStamped desired_pose                # goal pose to send to the robot
+geometry_msgs/TransformStamped relative_desired_pose  # relative pose from the actual pose as result of the admittance rule
+
+string[] joint_names
+trajectory_msgs/JointTrajectoryPoint desired_joint_state  # result of IK from goal_pose_command
+trajectory_msgs/JointTrajectoryPoint actual_joint_state   # read from the hardware
+trajectory_msgs/JointTrajectoryPoint error_joint_state