diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition.meta
new file mode 100644
index 00000000..60291176
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition.meta
@@ -0,0 +1,8 @@
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diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action.meta
new file mode 100644
index 00000000..b76308f7
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: bc19552f59eb33542b264a6b62bb2f0c
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
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diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionAction.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionAction.cs
new file mode 100644
index 00000000..5a1cbbcb
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionAction.cs
@@ -0,0 +1,38 @@
+using System.Collections.Generic;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+
+namespace RosMessageTypes.ObjectRecognition
+{
+    public class ObjectRecognitionAction : Action<ObjectRecognitionActionGoal, ObjectRecognitionActionResult, ObjectRecognitionActionFeedback, ObjectRecognitionGoal, ObjectRecognitionResult, ObjectRecognitionFeedback>
+    {
+        public const string RosMessageName = "object_recognition_msgs-master/ObjectRecognitionAction";
+
+        public ObjectRecognitionAction() : base()
+        {
+            this.action_goal = new ObjectRecognitionActionGoal();
+            this.action_result = new ObjectRecognitionActionResult();
+            this.action_feedback = new ObjectRecognitionActionFeedback();
+        }
+
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(this.action_goal.SerializationStatements());
+            listOfSerializations.AddRange(this.action_result.SerializationStatements());
+            listOfSerializations.AddRange(this.action_feedback.SerializationStatements());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.action_goal.Deserialize(data, offset);
+            offset = this.action_result.Deserialize(data, offset);
+            offset = this.action_feedback.Deserialize(data, offset);
+
+            return offset;
+        }
+
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionAction.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionAction.cs.meta
new file mode 100644
index 00000000..91aad84d
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionAction.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e61de1921b1c059449b62c9fff347e84
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionActionFeedback.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionActionFeedback.cs
new file mode 100644
index 00000000..6e9c6179
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionActionFeedback.cs
@@ -0,0 +1,41 @@
+using System.Collections.Generic;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+using RosMessageTypes.Std;
+using RosMessageTypes.Actionlib;
+
+namespace RosMessageTypes.ObjectRecognition
+{
+    public class ObjectRecognitionActionFeedback : ActionFeedback<ObjectRecognitionFeedback>
+    {
+        public const string RosMessageName = "object_recognition_msgs-master/ObjectRecognitionActionFeedback";
+
+        public ObjectRecognitionActionFeedback() : base()
+        {
+            this.feedback = new ObjectRecognitionFeedback();
+        }
+
+        public ObjectRecognitionActionFeedback(Header header, GoalStatus status, ObjectRecognitionFeedback feedback) : base(header, status)
+        {
+            this.feedback = feedback;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(this.header.SerializationStatements());
+            listOfSerializations.AddRange(this.status.SerializationStatements());
+            listOfSerializations.AddRange(this.feedback.SerializationStatements());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.header.Deserialize(data, offset);
+            offset = this.status.Deserialize(data, offset);
+            offset = this.feedback.Deserialize(data, offset);
+
+            return offset;
+        }
+
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionActionFeedback.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionActionFeedback.cs.meta
new file mode 100644
index 00000000..46dbeb85
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionActionFeedback.cs.meta
@@ -0,0 +1,11 @@
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+guid: 0883c7bfda3951947a1d2538a8aa18fd
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionActionGoal.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionActionGoal.cs
new file mode 100644
index 00000000..1fa833fa
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionActionGoal.cs
@@ -0,0 +1,41 @@
+using System.Collections.Generic;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+using RosMessageTypes.Std;
+using RosMessageTypes.Actionlib;
+
+namespace RosMessageTypes.ObjectRecognition
+{
+    public class ObjectRecognitionActionGoal : ActionGoal<ObjectRecognitionGoal>
+    {
+        public const string RosMessageName = "object_recognition_msgs-master/ObjectRecognitionActionGoal";
+
+        public ObjectRecognitionActionGoal() : base()
+        {
+            this.goal = new ObjectRecognitionGoal();
+        }
+
+        public ObjectRecognitionActionGoal(Header header, GoalID goal_id, ObjectRecognitionGoal goal) : base(header, goal_id)
+        {
+            this.goal = goal;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(this.header.SerializationStatements());
+            listOfSerializations.AddRange(this.goal_id.SerializationStatements());
+            listOfSerializations.AddRange(this.goal.SerializationStatements());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.header.Deserialize(data, offset);
+            offset = this.goal_id.Deserialize(data, offset);
+            offset = this.goal.Deserialize(data, offset);
+
+            return offset;
+        }
+
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionActionGoal.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionActionGoal.cs.meta
new file mode 100644
index 00000000..9a4f09b7
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionActionGoal.cs.meta
@@ -0,0 +1,11 @@
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+guid: a87856dada76c664b8dc48d3fad5f501
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+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  userData: 
+  assetBundleName: 
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diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionActionResult.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionActionResult.cs
new file mode 100644
index 00000000..4bf334df
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionActionResult.cs
@@ -0,0 +1,41 @@
+using System.Collections.Generic;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+using RosMessageTypes.Std;
+using RosMessageTypes.Actionlib;
+
+namespace RosMessageTypes.ObjectRecognition
+{
+    public class ObjectRecognitionActionResult : ActionResult<ObjectRecognitionResult>
+    {
+        public const string RosMessageName = "object_recognition_msgs-master/ObjectRecognitionActionResult";
+
+        public ObjectRecognitionActionResult() : base()
+        {
+            this.result = new ObjectRecognitionResult();
+        }
+
+        public ObjectRecognitionActionResult(Header header, GoalStatus status, ObjectRecognitionResult result) : base(header, status)
+        {
+            this.result = result;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(this.header.SerializationStatements());
+            listOfSerializations.AddRange(this.status.SerializationStatements());
+            listOfSerializations.AddRange(this.result.SerializationStatements());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.header.Deserialize(data, offset);
+            offset = this.status.Deserialize(data, offset);
+            offset = this.result.Deserialize(data, offset);
+
+            return offset;
+        }
+
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionActionResult.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionActionResult.cs.meta
new file mode 100644
index 00000000..2403b422
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionActionResult.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 278187536c0163c478b630468753894c
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  userData: 
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diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionFeedback.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionFeedback.cs
new file mode 100644
index 00000000..ae24b36a
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionFeedback.cs
@@ -0,0 +1,37 @@
+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.ObjectRecognition
+{
+    public class ObjectRecognitionFeedback : Message
+    {
+        public const string RosMessageName = "object_recognition_msgs-master/ObjectRecognition";
+
+        // no feedback
+
+        public ObjectRecognitionFeedback()
+        {
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "ObjectRecognitionFeedback: ";
+        }
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionFeedback.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionFeedback.cs.meta
new file mode 100644
index 00000000..6aaa5dca
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionFeedback.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b5a82160fbed0a24ab784ed5e614498c
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
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diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionGoal.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionGoal.cs
new file mode 100644
index 00000000..2e2d4174
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionGoal.cs
@@ -0,0 +1,65 @@
+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.ObjectRecognition
+{
+    public class ObjectRecognitionGoal : Message
+    {
+        public const string RosMessageName = "object_recognition_msgs-master/ObjectRecognition";
+
+        //  Optional ROI to use for the object detection
+        public bool use_roi;
+        public float[] filter_limits;
+
+        public ObjectRecognitionGoal()
+        {
+            this.use_roi = false;
+            this.filter_limits = new float[0];
+        }
+
+        public ObjectRecognitionGoal(bool use_roi, float[] filter_limits)
+        {
+            this.use_roi = use_roi;
+            this.filter_limits = filter_limits;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.Add(BitConverter.GetBytes(this.use_roi));
+            
+            listOfSerializations.Add(BitConverter.GetBytes(filter_limits.Length));
+            foreach(var entry in filter_limits)
+                listOfSerializations.Add(BitConverter.GetBytes(entry));
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            this.use_roi = BitConverter.ToBoolean(data, offset);
+            offset += 1;
+            
+            var filter_limitsArrayLength = DeserializeLength(data, offset);
+            offset += 4;
+            this.filter_limits= new float[filter_limitsArrayLength];
+            for(var i = 0; i < filter_limitsArrayLength; i++)
+            {
+                this.filter_limits[i] = BitConverter.ToSingle(data, offset);
+                offset += 4;
+            }
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "ObjectRecognitionGoal: " +
+            "\nuse_roi: " + use_roi.ToString() +
+            "\nfilter_limits: " + System.String.Join(", ", filter_limits.ToList());
+        }
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionGoal.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionGoal.cs.meta
new file mode 100644
index 00000000..2ba927ef
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionGoal.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9726adc74031c6644ab51ff57f1da2c5
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionResult.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionResult.cs
new file mode 100644
index 00000000..f75b67ac
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionResult.cs
@@ -0,0 +1,47 @@
+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.ObjectRecognition
+{
+    public class ObjectRecognitionResult : Message
+    {
+        public const string RosMessageName = "object_recognition_msgs-master/ObjectRecognition";
+
+        //  Send the found objects, see the msg files for docs
+        public RecognizedObjectArray recognized_objects;
+
+        public ObjectRecognitionResult()
+        {
+            this.recognized_objects = new RecognizedObjectArray();
+        }
+
+        public ObjectRecognitionResult(RecognizedObjectArray recognized_objects)
+        {
+            this.recognized_objects = recognized_objects;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(recognized_objects.SerializationStatements());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.recognized_objects.Deserialize(data, offset);
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "ObjectRecognitionResult: " +
+            "\nrecognized_objects: " + recognized_objects.ToString();
+        }
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionResult.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionResult.cs.meta
new file mode 100644
index 00000000..c8ec30cb
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/action/ObjectRecognitionResult.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg.meta
new file mode 100644
index 00000000..f977df94
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: caeb777ca0e45a94cae6398e5c738541
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/ObjectInformation.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/ObjectInformation.cs
new file mode 100644
index 00000000..7e84e674
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/ObjectInformation.cs
@@ -0,0 +1,68 @@
+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.ObjectRecognition
+{
+    public class ObjectInformation : Message
+    {
+        public const string RosMessageName = "object_recognition_msgs/ObjectInformation";
+
+        // ############################################# VISUALIZATION INFO ######################################################
+        // ################## THIS INFO SHOULD BE OBTAINED INDEPENDENTLY FROM THE CORE, LIKE IN AN RVIZ PLUGIN ###################
+        //  The human readable name of the object
+        public string name;
+        //  The full mesh of the object: this can be useful for display purposes, augmented reality ... but it can be big
+        //  Make sure the type is MESH
+        public Shape.Mesh ground_truth_mesh;
+        //  Sometimes, you only have a cloud in the DB
+        //  Make sure the type is POINTS
+        public Sensor.PointCloud2 ground_truth_point_cloud;
+
+        public ObjectInformation()
+        {
+            this.name = "";
+            this.ground_truth_mesh = new Shape.Mesh();
+            this.ground_truth_point_cloud = new Sensor.PointCloud2();
+        }
+
+        public ObjectInformation(string name, Shape.Mesh ground_truth_mesh, Sensor.PointCloud2 ground_truth_point_cloud)
+        {
+            this.name = name;
+            this.ground_truth_mesh = ground_truth_mesh;
+            this.ground_truth_point_cloud = ground_truth_point_cloud;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.Add(SerializeString(this.name));
+            listOfSerializations.AddRange(ground_truth_mesh.SerializationStatements());
+            listOfSerializations.AddRange(ground_truth_point_cloud.SerializationStatements());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            var nameStringBytesLength = DeserializeLength(data, offset);
+            offset += 4;
+            this.name = DeserializeString(data, offset, nameStringBytesLength);
+            offset += nameStringBytesLength;
+            offset = this.ground_truth_mesh.Deserialize(data, offset);
+            offset = this.ground_truth_point_cloud.Deserialize(data, offset);
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "ObjectInformation: " +
+            "\nname: " + name.ToString() +
+            "\nground_truth_mesh: " + ground_truth_mesh.ToString() +
+            "\nground_truth_point_cloud: " + ground_truth_point_cloud.ToString();
+        }
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/ObjectInformation.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/ObjectInformation.cs.meta
new file mode 100644
index 00000000..dec7532f
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/ObjectInformation.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f6e6b4e6f3567824ea359c48d401bff1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/ObjectType.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/ObjectType.cs
new file mode 100644
index 00000000..2d6bcce2
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/ObjectType.cs
@@ -0,0 +1,79 @@
+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.ObjectRecognition
+{
+    public class ObjectType : Message
+    {
+        public const string RosMessageName = "object_recognition_msgs/ObjectType";
+
+        // ################################################# OBJECT ID #########################################################
+        //  Contains information about the type of a found object. Those two sets of parameters together uniquely define an
+        //  object
+        //  The key of the found object: the unique identifier in the given db
+        public string key;
+        //  The db parameters stored as a JSON/compressed YAML string. An object id does not make sense without the corresponding
+        //  database. E.g., in object_recognition, it can look like: "{'type':'CouchDB', 'root':'http://localhost'}"
+        //  There is no conventional format for those parameters and it's nice to keep that flexibility.
+        //  The object_recognition_core as a generic DB type that can read those fields
+        //  Current examples:
+        //  For CouchDB:
+        //    type: 'CouchDB'
+        //    root: 'http://localhost:5984'
+        //    collection: 'object_recognition'
+        //  For SQL household database:
+        //    type: 'SqlHousehold'
+        //    host: 'wgs36'
+        //    port: 5432
+        //    user: 'willow'
+        //    password: 'willow'
+        //    name: 'household_objects'
+        //    module: 'tabletop'
+        public string db;
+
+        public ObjectType()
+        {
+            this.key = "";
+            this.db = "";
+        }
+
+        public ObjectType(string key, string db)
+        {
+            this.key = key;
+            this.db = db;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.Add(SerializeString(this.key));
+            listOfSerializations.Add(SerializeString(this.db));
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            var keyStringBytesLength = DeserializeLength(data, offset);
+            offset += 4;
+            this.key = DeserializeString(data, offset, keyStringBytesLength);
+            offset += keyStringBytesLength;
+            var dbStringBytesLength = DeserializeLength(data, offset);
+            offset += 4;
+            this.db = DeserializeString(data, offset, dbStringBytesLength);
+            offset += dbStringBytesLength;
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "ObjectType: " +
+            "\nkey: " + key.ToString() +
+            "\ndb: " + db.ToString();
+        }
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/ObjectType.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/ObjectType.cs.meta
new file mode 100644
index 00000000..3c6da051
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/ObjectType.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5ebcdcd4b6109704f930996b4aafc7b9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/RecognizedObject.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/RecognizedObject.cs
new file mode 100644
index 00000000..7ac16896
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/RecognizedObject.cs
@@ -0,0 +1,125 @@
+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+using RosMessageTypes.Std;
+
+namespace RosMessageTypes.ObjectRecognition
+{
+    public class RecognizedObject : Message
+    {
+        public const string RosMessageName = "object_recognition_msgs/RecognizedObject";
+
+        // #################################################### HEADER ###########################################################
+        //  The header frame corresponds to the pose frame, NOT the point_cloud frame.
+        public Header header;
+        // ################################################# OBJECT INFO #########################################################
+        //  Contains information about the type and the position of a found object
+        //  Some of those fields might not be filled because the used techniques do not fill them or because the user does not
+        //  request them
+        //  The type of the found object
+        public ObjectType type;
+        // confidence: how sure you are it is that object and not another one.
+        //  It is between 0 and 1 and the closer to one it is the better
+        public float confidence;
+        // ############################################### OBJECT CLUSTERS #######################################################
+        //  Sometimes you can extract the 3d points that belong to the object, in the frames of the original sensors
+        //  (it is an array as you might have several sensors)
+        public Sensor.PointCloud2[] point_clouds;
+        //  Sometimes, you can only provide a bounding box/shape, even in 3d
+        //  This is in the pose frame
+        public Shape.Mesh bounding_mesh;
+        //  Sometimes, you only have 2d input so you can't really give a pose, you just get a contour, or a box
+        //  The last point will be linked to the first one automatically
+        public Geometry.Point[] bounding_contours;
+        // ################################################### POSE INFO #########################################################
+        //  This is the result that everybody expects : the pose in some frame given with the input. The units are radian/meters
+        //  as usual
+        public Geometry.PoseWithCovarianceStamped pose;
+
+        public RecognizedObject()
+        {
+            this.header = new Header();
+            this.type = new ObjectType();
+            this.confidence = 0.0f;
+            this.point_clouds = new Sensor.PointCloud2[0];
+            this.bounding_mesh = new Shape.Mesh();
+            this.bounding_contours = new Geometry.Point[0];
+            this.pose = new Geometry.PoseWithCovarianceStamped();
+        }
+
+        public RecognizedObject(Header header, ObjectType type, float confidence, Sensor.PointCloud2[] point_clouds, Shape.Mesh bounding_mesh, Geometry.Point[] bounding_contours, Geometry.PoseWithCovarianceStamped pose)
+        {
+            this.header = header;
+            this.type = type;
+            this.confidence = confidence;
+            this.point_clouds = point_clouds;
+            this.bounding_mesh = bounding_mesh;
+            this.bounding_contours = bounding_contours;
+            this.pose = pose;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(header.SerializationStatements());
+            listOfSerializations.AddRange(type.SerializationStatements());
+            listOfSerializations.Add(BitConverter.GetBytes(this.confidence));
+            
+            listOfSerializations.Add(BitConverter.GetBytes(point_clouds.Length));
+            foreach(var entry in point_clouds)
+                listOfSerializations.Add(entry.Serialize());
+            listOfSerializations.AddRange(bounding_mesh.SerializationStatements());
+            
+            listOfSerializations.Add(BitConverter.GetBytes(bounding_contours.Length));
+            foreach(var entry in bounding_contours)
+                listOfSerializations.Add(entry.Serialize());
+            listOfSerializations.AddRange(pose.SerializationStatements());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.header.Deserialize(data, offset);
+            offset = this.type.Deserialize(data, offset);
+            this.confidence = BitConverter.ToSingle(data, offset);
+            offset += 4;
+            
+            var point_cloudsArrayLength = DeserializeLength(data, offset);
+            offset += 4;
+            this.point_clouds= new Sensor.PointCloud2[point_cloudsArrayLength];
+            for(var i = 0; i < point_cloudsArrayLength; i++)
+            {
+                this.point_clouds[i] = new Sensor.PointCloud2();
+                offset = this.point_clouds[i].Deserialize(data, offset);
+            }
+            offset = this.bounding_mesh.Deserialize(data, offset);
+            
+            var bounding_contoursArrayLength = DeserializeLength(data, offset);
+            offset += 4;
+            this.bounding_contours= new Geometry.Point[bounding_contoursArrayLength];
+            for(var i = 0; i < bounding_contoursArrayLength; i++)
+            {
+                this.bounding_contours[i] = new Geometry.Point();
+                offset = this.bounding_contours[i].Deserialize(data, offset);
+            }
+            offset = this.pose.Deserialize(data, offset);
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "RecognizedObject: " +
+            "\nheader: " + header.ToString() +
+            "\ntype: " + type.ToString() +
+            "\nconfidence: " + confidence.ToString() +
+            "\npoint_clouds: " + System.String.Join(", ", point_clouds.ToList()) +
+            "\nbounding_mesh: " + bounding_mesh.ToString() +
+            "\nbounding_contours: " + System.String.Join(", ", bounding_contours.ToList()) +
+            "\npose: " + pose.ToString();
+        }
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/RecognizedObject.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/RecognizedObject.cs.meta
new file mode 100644
index 00000000..09879242
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/RecognizedObject.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 01f984cc5e0aeb042aa5f7b43b252a46
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/RecognizedObjectArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/RecognizedObjectArray.cs
new file mode 100644
index 00000000..aab285fc
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/RecognizedObjectArray.cs
@@ -0,0 +1,85 @@
+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+using RosMessageTypes.Std;
+
+namespace RosMessageTypes.ObjectRecognition
+{
+    public class RecognizedObjectArray : Message
+    {
+        public const string RosMessageName = "object_recognition_msgs/RecognizedObjectArray";
+
+        // #################################################### HEADER ###########################################################
+        public Header header;
+        //  This message type describes a potential scene configuration: a set of objects that can explain the scene
+        public RecognizedObject[] objects;
+        // #################################################### SEARCH ###########################################################
+        //  The co-occurrence matrix between the recognized objects
+        public float[] cooccurrence;
+
+        public RecognizedObjectArray()
+        {
+            this.header = new Header();
+            this.objects = new RecognizedObject[0];
+            this.cooccurrence = new float[0];
+        }
+
+        public RecognizedObjectArray(Header header, RecognizedObject[] objects, float[] cooccurrence)
+        {
+            this.header = header;
+            this.objects = objects;
+            this.cooccurrence = cooccurrence;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(header.SerializationStatements());
+            
+            listOfSerializations.Add(BitConverter.GetBytes(objects.Length));
+            foreach(var entry in objects)
+                listOfSerializations.Add(entry.Serialize());
+            
+            listOfSerializations.Add(BitConverter.GetBytes(cooccurrence.Length));
+            foreach(var entry in cooccurrence)
+                listOfSerializations.Add(BitConverter.GetBytes(entry));
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.header.Deserialize(data, offset);
+            
+            var objectsArrayLength = DeserializeLength(data, offset);
+            offset += 4;
+            this.objects= new RecognizedObject[objectsArrayLength];
+            for(var i = 0; i < objectsArrayLength; i++)
+            {
+                this.objects[i] = new RecognizedObject();
+                offset = this.objects[i].Deserialize(data, offset);
+            }
+            
+            var cooccurrenceArrayLength = DeserializeLength(data, offset);
+            offset += 4;
+            this.cooccurrence= new float[cooccurrenceArrayLength];
+            for(var i = 0; i < cooccurrenceArrayLength; i++)
+            {
+                this.cooccurrence[i] = BitConverter.ToSingle(data, offset);
+                offset += 4;
+            }
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "RecognizedObjectArray: " +
+            "\nheader: " + header.ToString() +
+            "\nobjects: " + System.String.Join(", ", objects.ToList()) +
+            "\ncooccurrence: " + System.String.Join(", ", cooccurrence.ToList());
+        }
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/RecognizedObjectArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/RecognizedObjectArray.cs.meta
new file mode 100644
index 00000000..bfb9a286
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/RecognizedObjectArray.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f348dab18e906b54ba68778e4cd9a5f2
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/Table.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/Table.cs
new file mode 100644
index 00000000..08fdaed4
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/Table.cs
@@ -0,0 +1,78 @@
+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+using RosMessageTypes.Std;
+
+namespace RosMessageTypes.ObjectRecognition
+{
+    public class Table : Message
+    {
+        public const string RosMessageName = "object_recognition_msgs/Table";
+
+        //  Informs that a planar table has been detected at a given location
+        public Header header;
+        //  The pose gives you the transform that take you to the coordinate system
+        //  of the table, with the origin somewhere in the table plane and the 
+        //  z axis normal to the plane
+        public Geometry.Pose pose;
+        //  There is no guarantee that the table does NOT extend further than the
+        //  convex hull; this is just as far as we've observed it.
+        //  The origin of the table coordinate system is inside the convex hull
+        //  Set of points forming the convex hull of the table
+        public Geometry.Point[] convex_hull;
+
+        public Table()
+        {
+            this.header = new Header();
+            this.pose = new Geometry.Pose();
+            this.convex_hull = new Geometry.Point[0];
+        }
+
+        public Table(Header header, Geometry.Pose pose, Geometry.Point[] convex_hull)
+        {
+            this.header = header;
+            this.pose = pose;
+            this.convex_hull = convex_hull;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(header.SerializationStatements());
+            listOfSerializations.AddRange(pose.SerializationStatements());
+            
+            listOfSerializations.Add(BitConverter.GetBytes(convex_hull.Length));
+            foreach(var entry in convex_hull)
+                listOfSerializations.Add(entry.Serialize());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.header.Deserialize(data, offset);
+            offset = this.pose.Deserialize(data, offset);
+            
+            var convex_hullArrayLength = DeserializeLength(data, offset);
+            offset += 4;
+            this.convex_hull= new Geometry.Point[convex_hullArrayLength];
+            for(var i = 0; i < convex_hullArrayLength; i++)
+            {
+                this.convex_hull[i] = new Geometry.Point();
+                offset = this.convex_hull[i].Deserialize(data, offset);
+            }
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "Table: " +
+            "\nheader: " + header.ToString() +
+            "\npose: " + pose.ToString() +
+            "\nconvex_hull: " + System.String.Join(", ", convex_hull.ToList());
+        }
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/Table.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/Table.cs.meta
new file mode 100644
index 00000000..5b977dbc
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/Table.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2b4c1e64be313e242a4042f2109f26e6
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  userData: 
+  assetBundleName: 
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diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/TableArray.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/TableArray.cs
new file mode 100644
index 00000000..f966731c
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/TableArray.cs
@@ -0,0 +1,65 @@
+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+using RosMessageTypes.Std;
+
+namespace RosMessageTypes.ObjectRecognition
+{
+    public class TableArray : Message
+    {
+        public const string RosMessageName = "object_recognition_msgs/TableArray";
+
+        public Header header;
+        //  Just an array of tables
+        public Table[] tables;
+
+        public TableArray()
+        {
+            this.header = new Header();
+            this.tables = new Table[0];
+        }
+
+        public TableArray(Header header, Table[] tables)
+        {
+            this.header = header;
+            this.tables = tables;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(header.SerializationStatements());
+            
+            listOfSerializations.Add(BitConverter.GetBytes(tables.Length));
+            foreach(var entry in tables)
+                listOfSerializations.Add(entry.Serialize());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.header.Deserialize(data, offset);
+            
+            var tablesArrayLength = DeserializeLength(data, offset);
+            offset += 4;
+            this.tables= new Table[tablesArrayLength];
+            for(var i = 0; i < tablesArrayLength; i++)
+            {
+                this.tables[i] = new Table();
+                offset = this.tables[i].Deserialize(data, offset);
+            }
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "TableArray: " +
+            "\nheader: " + header.ToString() +
+            "\ntables: " + System.String.Join(", ", tables.ToList());
+        }
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/TableArray.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/TableArray.cs.meta
new file mode 100644
index 00000000..51a8ecff
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/msg/TableArray.cs.meta
@@ -0,0 +1,11 @@
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+guid: 2b4e718172f4e2b458d34fa363961729
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/srv.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/srv.meta
new file mode 100644
index 00000000..ada50313
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/srv.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 307686744e5d1b74d9966dcb6d9efee5
+folderAsset: yes
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+  externalObjects: {}
+  userData: 
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diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/srv/GetObjectInformationRequest.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/srv/GetObjectInformationRequest.cs
new file mode 100644
index 00000000..d2f059a2
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/srv/GetObjectInformationRequest.cs
@@ -0,0 +1,48 @@
+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.ObjectRecognition
+{
+    public class GetObjectInformationRequest : Message
+    {
+        public const string RosMessageName = "object_recognition_msgs-master/GetObjectInformation";
+
+        //  Retrieve extra data from the DB for a given object
+        //  The type of the object to retrieve info from
+        public ObjectType type;
+
+        public GetObjectInformationRequest()
+        {
+            this.type = new ObjectType();
+        }
+
+        public GetObjectInformationRequest(ObjectType type)
+        {
+            this.type = type;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(type.SerializationStatements());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.type.Deserialize(data, offset);
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "GetObjectInformationRequest: " +
+            "\ntype: " + type.ToString();
+        }
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/srv/GetObjectInformationRequest.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/srv/GetObjectInformationRequest.cs.meta
new file mode 100644
index 00000000..92956d2a
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/srv/GetObjectInformationRequest.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 462e45ec29977774496e42d04c7e5360
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/srv/GetObjectInformationResponse.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/srv/GetObjectInformationResponse.cs
new file mode 100644
index 00000000..6553380a
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/srv/GetObjectInformationResponse.cs
@@ -0,0 +1,47 @@
+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.ObjectRecognition
+{
+    public class GetObjectInformationResponse : Message
+    {
+        public const string RosMessageName = "object_recognition_msgs-master/GetObjectInformation";
+
+        //  Extra object info 
+        public ObjectInformation information;
+
+        public GetObjectInformationResponse()
+        {
+            this.information = new ObjectInformation();
+        }
+
+        public GetObjectInformationResponse(ObjectInformation information)
+        {
+            this.information = information;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(information.SerializationStatements());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.information.Deserialize(data, offset);
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "GetObjectInformationResponse: " +
+            "\ninformation: " + information.ToString();
+        }
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/srv/GetObjectInformationResponse.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/srv/GetObjectInformationResponse.cs.meta
new file mode 100644
index 00000000..5db76116
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/ObjectRecognition/srv/GetObjectInformationResponse.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 76e19d706765ee848b73d0d6feae1c1e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
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diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap.meta
new file mode 100644
index 00000000..f32696ed
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap.meta
@@ -0,0 +1,8 @@
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+  userData: 
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diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/msg.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/msg.meta
new file mode 100644
index 00000000..eb5a8f06
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/msg.meta
@@ -0,0 +1,8 @@
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+guid: 0eba4428046e55c40aa2fe8282863270
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+DefaultImporter:
+  externalObjects: {}
+  userData: 
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diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/msg/Octomap.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/msg/Octomap.cs
new file mode 100644
index 00000000..ddba445b
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/msg/Octomap.cs
@@ -0,0 +1,91 @@
+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+using RosMessageTypes.Std;
+
+namespace RosMessageTypes.Octomap
+{
+    public class Octomap : Message
+    {
+        public const string RosMessageName = "octomap_msgs/Octomap";
+
+        //  A 3D map in binary format, as Octree
+        public Header header;
+        //  Flag to denote a binary (only free/occupied) or full occupancy octree (.bt/.ot file)
+        public bool binary;
+        //  Class id of the contained octree 
+        public string id;
+        //  Resolution (in m) of the smallest octree nodes
+        public double resolution;
+        //  binary serialization of octree, use conversions.h to read and write octrees
+        public sbyte[] data;
+
+        public Octomap()
+        {
+            this.header = new Header();
+            this.binary = false;
+            this.id = "";
+            this.resolution = 0.0;
+            this.data = new sbyte[0];
+        }
+
+        public Octomap(Header header, bool binary, string id, double resolution, sbyte[] data)
+        {
+            this.header = header;
+            this.binary = binary;
+            this.id = id;
+            this.resolution = resolution;
+            this.data = data;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(header.SerializationStatements());
+            listOfSerializations.Add(BitConverter.GetBytes(this.binary));
+            listOfSerializations.Add(SerializeString(this.id));
+            listOfSerializations.Add(BitConverter.GetBytes(this.resolution));
+            
+            listOfSerializations.Add(BitConverter.GetBytes(data.Length));
+            listOfSerializations.Add((byte[]) (Array)this.data);
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.header.Deserialize(data, offset);
+            this.binary = BitConverter.ToBoolean(data, offset);
+            offset += 1;
+            var idStringBytesLength = DeserializeLength(data, offset);
+            offset += 4;
+            this.id = DeserializeString(data, offset, idStringBytesLength);
+            offset += idStringBytesLength;
+            this.resolution = BitConverter.ToDouble(data, offset);
+            offset += 8;
+            
+            var dataArrayLength = DeserializeLength(data, offset);
+            offset += 4;
+            this.data= new sbyte[dataArrayLength];
+            for(var i = 0; i < dataArrayLength; i++)
+            {
+                this.data[i] = (sbyte)data[offset];
+                offset += 1;
+            }
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "Octomap: " +
+            "\nheader: " + header.ToString() +
+            "\nbinary: " + binary.ToString() +
+            "\nid: " + id.ToString() +
+            "\nresolution: " + resolution.ToString() +
+            "\ndata: " + System.String.Join(", ", data.ToList());
+        }
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/msg/Octomap.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/msg/Octomap.cs.meta
new file mode 100644
index 00000000..1ae350f1
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/msg/Octomap.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 958d8b1c565c7c84e99db81e3104a336
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/msg/OctomapWithPose.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/msg/OctomapWithPose.cs
new file mode 100644
index 00000000..f1da58a2
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/msg/OctomapWithPose.cs
@@ -0,0 +1,62 @@
+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+using RosMessageTypes.Std;
+
+namespace RosMessageTypes.Octomap
+{
+    public class OctomapWithPose : Message
+    {
+        public const string RosMessageName = "octomap_msgs/OctomapWithPose";
+
+        //  A 3D map in binary format, as Octree
+        public Header header;
+        //  The pose of the octree with respect to the header frame 
+        public Geometry.Pose origin;
+        //  The actual octree msg
+        public Octomap octomap;
+
+        public OctomapWithPose()
+        {
+            this.header = new Header();
+            this.origin = new Geometry.Pose();
+            this.octomap = new Octomap();
+        }
+
+        public OctomapWithPose(Header header, Geometry.Pose origin, Octomap octomap)
+        {
+            this.header = header;
+            this.origin = origin;
+            this.octomap = octomap;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(header.SerializationStatements());
+            listOfSerializations.AddRange(origin.SerializationStatements());
+            listOfSerializations.AddRange(octomap.SerializationStatements());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.header.Deserialize(data, offset);
+            offset = this.origin.Deserialize(data, offset);
+            offset = this.octomap.Deserialize(data, offset);
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "OctomapWithPose: " +
+            "\nheader: " + header.ToString() +
+            "\norigin: " + origin.ToString() +
+            "\noctomap: " + octomap.ToString();
+        }
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/msg/OctomapWithPose.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/msg/OctomapWithPose.cs.meta
new file mode 100644
index 00000000..82d4d64d
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/msg/OctomapWithPose.cs.meta
@@ -0,0 +1,11 @@
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+guid: 4f1a808b1c5bdba43bbb5b667cf8729e
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv.meta
new file mode 100644
index 00000000..1cd7ad5b
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 983d85a1b0c8af04d925125bf4a46d1b
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+  externalObjects: {}
+  userData: 
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+  assetBundleVariant: 
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/BoundingBoxQueryRequest.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/BoundingBoxQueryRequest.cs
new file mode 100644
index 00000000..bcc94a9d
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/BoundingBoxQueryRequest.cs
@@ -0,0 +1,55 @@
+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.Octomap
+{
+    public class BoundingBoxQueryRequest : Message
+    {
+        public const string RosMessageName = "octomap_msgs-melodic-devel/BoundingBoxQuery";
+
+        //  Clear a region specified by a global axis-aligned bounding box in stored OctoMap
+        //  minimum corner point of axis-aligned bounding box in global frame
+        public Geometry.Point min;
+        //  maximum corner point of axis-aligned bounding box in global frame
+        public Geometry.Point max;
+
+        public BoundingBoxQueryRequest()
+        {
+            this.min = new Geometry.Point();
+            this.max = new Geometry.Point();
+        }
+
+        public BoundingBoxQueryRequest(Geometry.Point min, Geometry.Point max)
+        {
+            this.min = min;
+            this.max = max;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(min.SerializationStatements());
+            listOfSerializations.AddRange(max.SerializationStatements());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.min.Deserialize(data, offset);
+            offset = this.max.Deserialize(data, offset);
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "BoundingBoxQueryRequest: " +
+            "\nmin: " + min.ToString() +
+            "\nmax: " + max.ToString();
+        }
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/BoundingBoxQueryRequest.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/BoundingBoxQueryRequest.cs.meta
new file mode 100644
index 00000000..ca86d975
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/BoundingBoxQueryRequest.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1cde46af86ce7124e9b8878cdf11980f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/BoundingBoxQueryResponse.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/BoundingBoxQueryResponse.cs
new file mode 100644
index 00000000..5880acc0
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/BoundingBoxQueryResponse.cs
@@ -0,0 +1,36 @@
+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.Octomap
+{
+    public class BoundingBoxQueryResponse : Message
+    {
+        public const string RosMessageName = "octomap_msgs-melodic-devel/BoundingBoxQuery";
+
+
+        public BoundingBoxQueryResponse()
+        {
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "BoundingBoxQueryResponse: ";
+        }
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/BoundingBoxQueryResponse.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/BoundingBoxQueryResponse.cs.meta
new file mode 100644
index 00000000..f4b999f8
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/BoundingBoxQueryResponse.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1d76ee97d5e0f66488f312c09f4a3e0e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/GetOctomapRequest.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/GetOctomapRequest.cs
new file mode 100644
index 00000000..4386e87a
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/GetOctomapRequest.cs
@@ -0,0 +1,37 @@
+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.Octomap
+{
+    public class GetOctomapRequest : Message
+    {
+        public const string RosMessageName = "octomap_msgs-melodic-devel/GetOctomap";
+
+        //  Get the map as a octomap
+
+        public GetOctomapRequest()
+        {
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "GetOctomapRequest: ";
+        }
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/GetOctomapRequest.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/GetOctomapRequest.cs.meta
new file mode 100644
index 00000000..603c1771
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/GetOctomapRequest.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: df1f0b35ab873484c99405fbe4f84f79
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/GetOctomapResponse.cs b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/GetOctomapResponse.cs
new file mode 100644
index 00000000..046f63b6
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/GetOctomapResponse.cs
@@ -0,0 +1,46 @@
+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.Octomap
+{
+    public class GetOctomapResponse : Message
+    {
+        public const string RosMessageName = "octomap_msgs-melodic-devel/GetOctomap";
+
+        public Octomap map;
+
+        public GetOctomapResponse()
+        {
+            this.map = new Octomap();
+        }
+
+        public GetOctomapResponse(Octomap map)
+        {
+            this.map = map;
+        }
+        public override List<byte[]> SerializationStatements()
+        {
+            var listOfSerializations = new List<byte[]>();
+            listOfSerializations.AddRange(map.SerializationStatements());
+
+            return listOfSerializations;
+        }
+
+        public override int Deserialize(byte[] data, int offset)
+        {
+            offset = this.map.Deserialize(data, offset);
+
+            return offset;
+        }
+
+        public override string ToString()
+        {
+            return "GetOctomapResponse: " +
+            "\nmap: " + map.ToString();
+        }
+    }
+}
diff --git a/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/GetOctomapResponse.cs.meta b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/GetOctomapResponse.cs.meta
new file mode 100644
index 00000000..b026fe86
--- /dev/null
+++ b/com.unity.robotics.ros-tcp-connector/Runtime/MessageGeneration/Octomap/srv/GetOctomapResponse.cs.meta
@@ -0,0 +1,11 @@
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+guid: b72c060bef260e246a052b11de58a7d8
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/com.unity.robotics.ros-tcp-connector/package.json b/com.unity.robotics.ros-tcp-connector/package.json
index 09e1ab4c..d121f87a 100644
--- a/com.unity.robotics.ros-tcp-connector/package.json
+++ b/com.unity.robotics.ros-tcp-connector/package.json
@@ -1,6 +1,6 @@
 {
   "name": "com.unity.robotics.ros-tcp-connector",
-  "version": "0.1.2-preview",
+  "version": "0.2.0-preview",
   "displayName": "ROS TCP Connector",
   "description": "Bridge components and message generation allowing Unity to communicate with ROS services",
   "unity": "2020.2",