diff --git a/CMakeLists.txt b/CMakeLists.txt
index a5efa69..db4e168 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,7 +10,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 set(msg_files
-  "msg/ToFHistogram.msg" "msg/ToFFrame.msg"
+  "msg/ToFHistogram.msg" "msg/ToFFrame.msg" "msg/DepthEstimate.msg"
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}
diff --git a/msg/DepthEstimate.msg b/msg/DepthEstimate.msg
new file mode 100644
index 0000000..06b9597
--- /dev/null
+++ b/msg/DepthEstimate.msg
@@ -0,0 +1,2 @@
+float64[] depth_estimates
+float64[] confidences
\ No newline at end of file
diff --git a/msg/ToFFrame.msg b/msg/ToFFrame.msg
index 02ec291..9748e70 100644
--- a/msg/ToFFrame.msg
+++ b/msg/ToFFrame.msg
@@ -5,9 +5,6 @@ int64 measurement_num
 int64 temperature
 int64 num_valid_results
 int64 tick
-int64[] depths_1
-int64[] confs_1
-int64[] depths_2
-int64[] confs_2
+DepthEstimate[] depth_estimates
 string histogram_type
-string port
\ No newline at end of file
+string serial_port
\ No newline at end of file