diff --git a/geometry_msgs/CMakeLists.txt b/geometry_msgs/CMakeLists.txt
index bad3b774..ad05ae89 100644
--- a/geometry_msgs/CMakeLists.txt
+++ b/geometry_msgs/CMakeLists.txt
@@ -25,6 +25,8 @@ add_message_files(
   PoseWithCovarianceStamped.msg
   Quaternion.msg
   QuaternionStamped.msg
+  Ray.msg
+  RayStamped.msg
   Transform.msg
   TransformStamped.msg
   Twist.msg
diff --git a/geometry_msgs/msg/Ray.msg b/geometry_msgs/msg/Ray.msg
new file mode 100644
index 00000000..3f3af4c2
--- /dev/null
+++ b/geometry_msgs/msg/Ray.msg
@@ -0,0 +1,3 @@
+# A representation of a ray in 3-space, composed of an origin and a direction
+Point origin
+Vector3 direction
diff --git a/geometry_msgs/msg/RayStamped.msg b/geometry_msgs/msg/RayStamped.msg
new file mode 100644
index 00000000..9b1bff53
--- /dev/null
+++ b/geometry_msgs/msg/RayStamped.msg
@@ -0,0 +1,3 @@
+# A Ray with reference coordinate frame and timestamp
+Header header
+Ray ray