diff --git a/msg/RoverMecanumSetpoint.msg b/msg/RoverMecanumSetpoint.msg
index 8718c03..0cc9415 100644
--- a/msg/RoverMecanumSetpoint.msg
+++ b/msg/RoverMecanumSetpoint.msg
@@ -5,7 +5,7 @@ float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized forward s
 float32 lateral_speed_setpoint            # [m/s] Desired lateral speed
 float32 lateral_speed_setpoint_normalized # [-1, 1] Desired normalized lateral speed
 float32 yaw_rate_setpoint                 # [rad/s] Desired yaw rate
-float32 yaw_rate_setpoint_normalized      # [-1, 1] Desired normalized yaw rate
+float32 speed_diff_setpoint_normalized    # [-1, 1] Normalized speed difference between the left and right wheels
 float32 yaw_setpoint 	                  # [rad] Desired yaw (heading)
 
 # TOPICS rover_mecanum_setpoint
diff --git a/msg/RoverMecanumStatus.msg b/msg/RoverMecanumStatus.msg
index d9bc7b1..7547fd5 100644
--- a/msg/RoverMecanumStatus.msg
+++ b/msg/RoverMecanumStatus.msg
@@ -1,13 +1,17 @@
 uint64 timestamp # time since system start (microseconds)
 
-float32 measured_forward_speed        # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
-float32 measured_lateral_speed        # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
-float32 adjusted_yaw_rate_setpoint    # [rad/s] Yaw rate setpoint output of the closed loop yaw controller
-float32 measured_yaw_rate  	      # [rad/s] Measured yaw rate
-float32 measured_yaw        	      # [rad] Measured yaw
-float32 pid_yaw_rate_integral  	      # Integral of the PID for the closed loop yaw rate controller
-float32 pid_yaw_integral       	      # Integral of the PID for the closed loop yaw controller
-float32 pid_forward_throttle_integral # Integral of the PID for the closed loop forward speed controller
-float32 pid_lateral_throttle_integral # Integral of the PID for the closed loop lateral speed controller
+float32 measured_forward_speed          # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
+float32 adjusted_forward_speed_setpoint # [m/s] Speed setpoint after applying slew rate
+float32 measured_lateral_speed          # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
+float32 adjusted_lateral_speed_setpoint # [m/s] Speed setpoint after applying slew rate
+float32 measured_yaw_rate  	        # [rad/s] Measured yaw rate
+float32 clyaw_yaw_rate_setpoint         # [rad/s] Yaw rate setpoint output by the closed loop yaw controller
+float32 adjusted_yaw_rate_setpoint      # [rad/s] Yaw rate setpoint from the closed loop yaw controller
+float32 measured_yaw        	        # [rad] Measured yaw
+float32 adjusted_yaw_setpoint           # [rad] Yaw setpoint after applying slew rate
+float32 pid_yaw_rate_integral  	        # Integral of the PID for the closed loop yaw rate controller
+float32 pid_yaw_integral       	        # Integral of the PID for the closed loop yaw controller
+float32 pid_forward_throttle_integral   # Integral of the PID for the closed loop forward speed controller
+float32 pid_lateral_throttle_integral   # Integral of the PID for the closed loop lateral speed controller
 
 # TOPICS rover_mecanum_status