diff --git a/leo_msgs/CMakeLists.txt b/leo_msgs/CMakeLists.txt
index 5e3bf05..993e71a 100644
--- a/leo_msgs/CMakeLists.txt
+++ b/leo_msgs/CMakeLists.txt
@@ -8,6 +8,7 @@ find_package(builtin_interfaces REQUIRED)
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Imu.msg"
   "msg/WheelOdom.msg"
+  "msg/WheelOdomMecanum.msg"
   "msg/WheelStates.msg"
   "srv/SetImuCalibration.srv"
   DEPENDENCIES builtin_interfaces
diff --git a/leo_msgs/msg/WheelOdomMecanum.msg b/leo_msgs/msg/WheelOdomMecanum.msg
new file mode 100644
index 0000000..cb050a5
--- /dev/null
+++ b/leo_msgs/msg/WheelOdomMecanum.msg
@@ -0,0 +1,14 @@
+# This message represents the pose and velocity of a mecanum wheeled robot, estimated from the wheel encoders.
+#
+# The velocity_* fields represent the linear and angular velocity of the robot.
+# The pose_* fields represent the x, y and yaw pose of the robot w.r.t. the starting pose.
+#
+# The coordinate frame that represents the robot is located at the center of rotation.
+
+builtin_interfaces/Time stamp
+float32 velocity_lin_x
+float32 velocity_lin_y
+float32 velocity_ang
+float32 pose_x
+float32 pose_y
+float32 pose_yaw