diff --git a/robot_sensor_msgs/include/robot_sensor_msgs/DepthCameraData.h b/robot_sensor_msgs/include/robot_sensor_msgs/DepthCameraData.h
new file mode 100644
index 0000000..9566010
--- /dev/null
+++ b/robot_sensor_msgs/include/robot_sensor_msgs/DepthCameraData.h
@@ -0,0 +1,38 @@
+#ifndef ROBOT_SENSOR_MSGS_MESSAGE_DEPTHCAMERADATA_H
+#define ROBOT_SENSOR_MSGS_MESSAGE_DEPTHCAMERADATA_H
+
+#include <boost/shared_ptr.hpp>
+#include <robot_sensor_msgs/CameraInfo.h>
+#include <robot_sensor_msgs/Image.h>
+#include <robot_std_msgs/Header.h>
+
+namespace robot_sensor_msgs
+{
+
+struct DepthCameraData
+{
+  robot_std_msgs::Header header;
+  robot_sensor_msgs::Image depth;
+  robot_sensor_msgs::CameraInfo camera_info;
+
+  typedef boost::shared_ptr<robot_sensor_msgs::DepthCameraData> Ptr;
+  typedef boost::shared_ptr<const robot_sensor_msgs::DepthCameraData> ConstPtr;
+
+  DepthCameraData& operator=(const DepthCameraData& other)
+  {
+    if (this != &other)
+    {
+      header = other.header;
+      depth = other.depth;
+      camera_info = other.camera_info;
+    }
+
+    return *this;
+  }
+};
+
+
+
+}  // namespace robot_sensor_msgs
+
+#endif  // ROBOT_SENSOR_MSGS_MESSAGE_DEPTHCAMERADATA_H
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