diff --git a/non-ros-files/Programming_Rules.md b/non-ros-files/Programming_Rules.md
index 92d3b81..093101e 100644
--- a/non-ros-files/Programming_Rules.md
+++ b/non-ros-files/Programming_Rules.md
@@ -65,7 +65,7 @@ pubsub    <---- depends on *.msg files ----<    pubsub_msg
 This is also done in the background when creating a new package and defining dependencies    
 `ros2 pkg create <pkg-name> --dependencies [deps]`  
 for example  
-`ros2 pkg create pubsub_2 --dependencies std_msgs`  
+`ros2 pkg create pubsub_2 --dependencies std_msgs builtin_interfaces --build-type ament_cmake`  
 This command creates the new package `pubsub_2` but already links it to the ROS standard messages `std_msgs` so they are available.
 
 ## pubsub/
diff --git a/src/custom_interfaces/CMakeLists.txt b/src/custom_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..35db97f
--- /dev/null
+++ b/src/custom_interfaces/CMakeLists.txt
@@ -0,0 +1,63 @@
+cmake_minimum_required(VERSION 3.5)
+project(custom_interfaces)
+
+# 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(builtin_interfaces REQUIRED)
+
+
+
+
+
+
+# -->
+# ADD THESE LINES: START HERE
+
+find_package(rosidl_default_generators REQUIRED)
+find_package(rclcpp REQUIRED)
+
+# CUSTOM LINES: CHANGE FOR YOUR FILENAMES
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/CustomMsg1.msg"
+  "msg/CustomMsg2.msg"
+  "srv/CustomSrv1.srv"
+  DEPENDENCIES builtin_interfaces
+ )
+
+# END HERE 
+# <--
+
+
+
+
+
+
+
+
+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/src/custom_interfaces/msg/CustomMsg1.msg b/src/custom_interfaces/msg/CustomMsg1.msg
new file mode 100644
index 0000000..66a846b
--- /dev/null
+++ b/src/custom_interfaces/msg/CustomMsg1.msg
@@ -0,0 +1,8 @@
+# Header data, eg timestamp
+# Problem: "header__struct.hpp: No such file or directory"
+#Header header
+
+# Sensor Data coming back from an array of atmospheric sensors
+float32[] temperature
+float32[] pressure
+float32[] humidity
diff --git a/src/custom_interfaces/msg/CustomMsg2.msg b/src/custom_interfaces/msg/CustomMsg2.msg
new file mode 100644
index 0000000..2e9603d
--- /dev/null
+++ b/src/custom_interfaces/msg/CustomMsg2.msg
@@ -0,0 +1,7 @@
+# Header data, eg timestamp
+# Problem: "header__struct.hpp: No such file or directory"
+#Header header
+
+# User inputs, eg. for controlling a camera mast , eg. set angles [rad]
+float32 pitch_ctrl
+float32 yaw_ctrl
diff --git a/src/custom_interfaces/package.xml b/src/custom_interfaces/package.xml
new file mode 100644
index 0000000..8c22c2a
--- /dev/null
+++ b/src/custom_interfaces/package.xml
@@ -0,0 +1,42 @@
+<?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>custom_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="rosmobile@todo.todo">rosmobile</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  
+  
+  
+  <!-- ADD THESE LINES: START HERE -->
+  
+  <build_depend>builtin_interfaces</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <!-- END HERE -->
+
+
+
+
+
+
+  <depend>std_msgs</depend>
+  <!-- DO NOT ENTER THIS DEPENDENCY WHEN CREATING NEW PACKAGE -->
+  <!-- <depend>builtin_interfaces</depend> -->
+
+  <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/src/custom_interfaces/srv/CustomSrv1.srv b/src/custom_interfaces/srv/CustomSrv1.srv
new file mode 100644
index 0000000..0d93ae4
--- /dev/null
+++ b/src/custom_interfaces/srv/CustomSrv1.srv
@@ -0,0 +1,10 @@
+# Header data, eg timestamp
+# Problem: "header__struct.hpp: No such file or directory"
+#Header header
+
+# Sensor Data coming back from an array of atmospheric sensors
+float32[] temperature
+float32[] pressure
+float32[] humidity
+---
+bool success