diff --git a/common/vision/lasr_vision_interfaces/CMakeLists.txt b/common/vision/lasr_vision_interfaces/CMakeLists.txt
new file mode 100644
index 000000000..89a53481d
--- /dev/null
+++ b/common/vision/lasr_vision_interfaces/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(lasr_vision_interfaces)
+
+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(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME})
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/common/vision/lasr_vision_interfaces/msg/.gitkeep b/common/vision/lasr_vision_interfaces/msg/.gitkeep
new file mode 100644
index 000000000..e69de29bb
diff --git a/common/vision/lasr_vision_interfaces/package.xml b/common/vision/lasr_vision_interfaces/package.xml
new file mode 100644
index 000000000..339040076
--- /dev/null
+++ b/common/vision/lasr_vision_interfaces/package.xml
@@ -0,0 +1,21 @@
+<?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>lasr_vision_interfaces</name>
+  <version>0.0.0</version>
+  <description>Common interfaces for use within LASR vision packages.</description>
+  <maintainer email="jared.swift@kcl.ac.uk">Jared Swift</maintainer>
+  <license>GPL-3.0-only</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/common/vision/lasr_vision_interfaces/srv/.gitkeep b/common/vision/lasr_vision_interfaces/srv/.gitkeep
new file mode 100644
index 000000000..e69de29bb