diff --git a/nav_msgs/msg/Odometry.msg b/nav_msgs/msg/Odometry.msg
index 73578ed8..dc62bc85 100644
--- a/nav_msgs/msg/Odometry.msg
+++ b/nav_msgs/msg/Odometry.msg
@@ -1,7 +1,7 @@
 # This represents an estimate of a position and velocity in free space.  
 # The pose in this message should be specified in the coordinate frame given by header.frame_id.
-# The twist in this message should be specified in the coordinate frame given by the child_frame_id
+# The velocity in this message should be specified in the coordinate frame given by the child_frame_id
 Header header
 string child_frame_id
 geometry_msgs/PoseWithCovariance pose
-geometry_msgs/TwistWithCovariance twist
+geometry_msgs/TwistWithCovariance twist # velocity but keeping name for backwards compatibility
diff --git a/nav_msgs/msg/OdometryWithAcceleration.msg b/nav_msgs/msg/OdometryWithAcceleration.msg
new file mode 100644
index 00000000..c221ae80
--- /dev/null
+++ b/nav_msgs/msg/OdometryWithAcceleration.msg
@@ -0,0 +1,9 @@
+# This represents an estimate of a position, velocity, and acceleration in free space.  
+# The pose in this message should be specified in the coordinate frame given by header.frame_id.
+# The velocity in this message should be specified in the coordinate frame given by the child_frame_id.
+# The acceleration in this message should be specified in the coordinate frame given by the child_frame_id.
+Header header
+string child_frame_id
+geometry_msgs/PoseWithCovariance pose
+geometry_msgs/TwistWithCovariance velocity
+geometry_msgs/TwistWithCovariance acceleration