diff --git a/CMakeLists.txt b/CMakeLists.txt
old mode 100755
new mode 100644
index 945bdd1..a825404
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -21,11 +21,12 @@ find_package(std_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
+
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/RslidarPacket.msg"
-  "msg/RslidarScan.msg"
   DEPENDENCIES builtin_interfaces std_msgs
  )
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights
diff --git a/msg/RslidarPacket.msg b/msg/RslidarPacket.msg
old mode 100755
new mode 100644
index 7136829..b6a05f5
--- a/msg/RslidarPacket.msg
+++ b/msg/RslidarPacket.msg
@@ -1,2 +1,4 @@
-builtin_interfaces/Time stamp
-uint8[1248] data
\ No newline at end of file
+std_msgs/Header header
+uint8 is_difop
+uint8 is_frame_begin
+uint8[] data
diff --git a/msg/RslidarScan.msg b/msg/RslidarScan.msg
deleted file mode 100755
index 58c0ca9..0000000
--- a/msg/RslidarScan.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-std_msgs/Header header
-RslidarPacket[] packets
diff --git a/package.xml b/package.xml
old mode 100755
new mode 100644
index 75d50e4..b8a8309
--- a/package.xml
+++ b/package.xml
@@ -2,10 +2,11 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rslidar_msg</name>
-  <version>1.3.2</version>
-  <description>Messages for the rslidar_sdk package</description>
+  <version>0.0.0</version>
+  <description>ros msgs for the rslidar_sdk project</description>
   <maintainer email="zdxiao@robosense.cn">robosense</maintainer>
   <license>BSD</license>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>std_msgs</depend>
@@ -21,7 +22,7 @@
 
   <exec_depend>rosidl_default_runtime</exec_depend>
 
-  <member_of_group>rosidl_interface_packages</member_of_group>
+<member_of_group>rosidl_interface_packages</member_of_group>
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/ros1/CMakeLists.txt b/ros1/CMakeLists.txt
new file mode 100644
index 0000000..320fb43
--- /dev/null
+++ b/ros1/CMakeLists.txt
@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.5)
+project(rslidar_msg)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(std_msgs REQUIRED)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  std_msgs
+  sensor_msgs
+  message_generation
+  )
+
+add_message_files(FILES
+  RslidarPacket.msg
+  )
+
+generate_messages(DEPENDENCIES 
+  std_msgs
+  sensor_msgs
+  )
+
+catkin_package(CATKIN_DEPENDS 
+  std_msgs 
+  sensor_msgs
+  message_runtime
+  )
diff --git a/ros1/package.xml b/ros1/package.xml
new file mode 100644
index 0000000..831a653
--- /dev/null
+++ b/ros1/package.xml
@@ -0,0 +1,22 @@
+<?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>rslidar_msg</name>
+  <version>0.0.0</version>
+  <description>ros msgs for the rslidar_sdk project</description>
+  <maintainer email="zdxiao@robosense.cn">robosense</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+</package>
diff --git a/ros2/CMakeLists.txt b/ros2/CMakeLists.txt
new file mode 100644
index 0000000..a825404
--- /dev/null
+++ b/ros2/CMakeLists.txt
@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.5)
+project(rslidar_msg)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/RslidarPacket.msg"
+  DEPENDENCIES builtin_interfaces std_msgs
+ )
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/ros2/package.xml b/ros2/package.xml
new file mode 100644
index 0000000..b8a8309
--- /dev/null
+++ b/ros2/package.xml
@@ -0,0 +1,29 @@
+<?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>rslidar_msg</name>
+  <version>0.0.0</version>
+  <description>ros msgs for the rslidar_sdk project</description>
+  <maintainer email="zdxiao@robosense.cn">robosense</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>std_msgs</depend>
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <build_depend>builtin_interfaces</build_depend>
+
+  <exec_depend>builtin_interfaces</exec_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+<member_of_group>rosidl_interface_packages</member_of_group>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>