diff --git a/airsim_ros_pkgs/CMakeLists.txt b/airsim_ros_pkgs/CMakeLists.txt
index b63c113..58e49af 100644
--- a/airsim_ros_pkgs/CMakeLists.txt
+++ b/airsim_ros_pkgs/CMakeLists.txt
@@ -58,7 +58,8 @@ target_link_libraries(airsim_settings_parser
 
 set(ARISIM_SOURCES
   src/airsim_ros_wrapper.cpp
-  src/command_subscriber.cpp)
+  src/command_subscriber.cpp
+  src/messages.cpp)
 add_library(airsim_ros ${ARISIM_SOURCES})
 add_dependencies(airsim_ros
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
diff --git a/airsim_ros_pkgs/include/airsim_ros_pkgs/messages.hpp b/airsim_ros_pkgs/include/airsim_ros_pkgs/messages.hpp
index 590041b..45a0978 100644
--- a/airsim_ros_pkgs/include/airsim_ros_pkgs/messages.hpp
+++ b/airsim_ros_pkgs/include/airsim_ros_pkgs/messages.hpp
@@ -4,6 +4,12 @@
 #include <string>
 
 #include "mavros_msgs/AttitudeTarget.h"
+#include "nav_msgs/Odometry.h"
+#include "sensor_msgs/Imu.h"
+#include "sensor_msgs/MagneticField.h"
+#include "sensor_msgs/NavSatFix.h"
+#include "sensor_msgs/PointCloud2.h"
+#include "sensor_msgs/Range.h"
 #include "tf2/LinearMath/Quaternion.h"
 
 // ROS custom msgs.
@@ -26,6 +32,14 @@
 
 #include "common/AirSimSettings.hpp"
 #include "common/CommonStructs.hpp"
+#include "sensors/barometer/BarometerBase.hpp"
+#include "sensors/distance/DistanceSimple.hpp"
+#include "sensors/gps/GpsBase.hpp"
+#include "sensors/imu/ImuBase.hpp"
+#include "sensors/lidar/LidarSimple.hpp"
+#include "sensors/magnetometer/MagnetometerBase.hpp"
+#include "vehicles/car/api/CarApiBase.hpp"
+#include "vehicles/multirotor/api/MultirotorApiBase.hpp"
 #include "vehicles/multirotor/api/MultirotorCommon.hpp"
 
 namespace airsim_ros {
@@ -34,10 +48,37 @@ namespace messages {
 namespace helper_functions {
 
 airsim_ros_pkgs::GPSYaw GetGpsMsgFromAirsimGeoPoint(
-    const msr::airlib::GeoPoint& geo_point);
+    const msr::airlib::GeoPoint &geo_point);
 
-msr::airlib::Quaternionr GetAirlibQuatFromRos(
-    const tf2::Quaternion& tf2_quat);
+msr::airlib::Quaternionr GetAirlibQuatFromRos(const tf2::Quaternion &tf2_quat);
+
+nav_msgs::Odometry GetOdomMsgFromMultirotorState(
+    const msr::airlib::MultirotorState &drone_state, bool isEnu);
+
+nav_msgs::Odometry GetOdomMsgFromTruthState(
+    const msr::airlib::Kinematics::State &truth_state, bool isEnu);
+
+sensor_msgs::PointCloud2 GetLidarMsgFromAirsim(
+    const msr::airlib::LidarData &lidar_data, const std::string &vehicle_name,
+    bool isEnu);
+
+airsim_ros_pkgs::Environment GetEnvironmentMsgFromAirsim(
+    const msr::airlib::Environment::State &env_data);
+
+sensor_msgs::MagneticField GetMagMsgFromAirsim(
+    const msr::airlib::MagnetometerBase::Output &mag_data);
+
+sensor_msgs::NavSatFix GetGpsMsgFromAirsim(
+    const msr::airlib::GpsBase::Output &gps_data);
+
+sensor_msgs::Range GetRangeFromAirsim(
+    const msr::airlib::DistanceSensorData &dist_data);
+
+airsim_ros_pkgs::Altimeter GetAltimeterMsgFromAirsim(
+    const msr::airlib::BarometerBase::Output &alt_data);
+
+sensor_msgs::Imu GetImuMsgFromAirsim(
+    const msr::airlib::ImuBase::Output &imu_data);
 
 }  // namespace helper_functions
 
diff --git a/airsim_ros_pkgs/src/messages.cpp b/airsim_ros_pkgs/src/messages.cpp
index 855405c..05cd3fd 100644
--- a/airsim_ros_pkgs/src/messages.cpp
+++ b/airsim_ros_pkgs/src/messages.cpp
@@ -1,11 +1,38 @@
-#include "messages.hpp"
+#include "airsim_ros_pkgs/messages.hpp"
+
+#include "nav_msgs/Odometry.h"
+#include "sensor_msgs/Imu.h"
+#include "sensor_msgs/MagneticField.h"
+#include "sensor_msgs/PointCloud2.h"
+#include "sensor_msgs/Range.h"
+
+#include "common/CommonStructs.hpp"
+
+namespace {
+
+ros::Time ChronoTimeToRosTime(
+    const std::chrono::system_clock::time_point &stamp) {
+  auto dur = std::chrono::duration<double>(stamp.time_since_epoch());
+  ros::Time cur_time;
+  cur_time.fromSec(dur.count());
+  return cur_time;
+}
+
+ros::Time AirsimTimeToRosTime(const msr::airlib::TTimePoint &stamp) {
+  std::chrono::nanoseconds dur(stamp);
+  std::chrono::time_point<std::chrono::system_clock> tp(dur);
+  ros::Time cur_time = ChronoTimeToRosTime(tp);
+  return cur_time;
+}
+
+}  // namespace
 
 namespace airsim_ros {
 namespace messages {
 namespace helper_functions {
 
 airsim_ros_pkgs::GPSYaw GetGpsMsgFromAirsimGeoPoint(
-    const msr::airlib::GeoPoint& geo_point) {
+    const msr::airlib::GeoPoint &geo_point) {
   airsim_ros_pkgs::GPSYaw gps_msg;
   gps_msg.latitude = geo_point.latitude;
   gps_msg.longitude = geo_point.longitude;
@@ -13,11 +40,257 @@ airsim_ros_pkgs::GPSYaw GetGpsMsgFromAirsimGeoPoint(
   return gps_msg;
 }
 
-msr::airlib::Quaternionr GetAirlibQuatFromRos(const tf2::Quaternion& tf2_quat) {
+msr::airlib::Quaternionr GetAirlibQuatFromRos(const tf2::Quaternion &tf2_quat) {
   return msr::airlib::Quaternionr(tf2_quat.w(), tf2_quat.x(), tf2_quat.y(),
                                   tf2_quat.z());
 }
 
+nav_msgs::Odometry GetOdomMsgFromMultirotorState(
+    const msr::airlib::MultirotorState &drone_state, bool isEnu) {
+  nav_msgs::Odometry odom_msg;
+
+  odom_msg.pose.pose.position.x = drone_state.getPosition().x();
+  odom_msg.pose.pose.position.y = drone_state.getPosition().y();
+  odom_msg.pose.pose.position.z = drone_state.getPosition().z();
+  odom_msg.pose.pose.orientation.x = drone_state.getOrientation().x();
+  odom_msg.pose.pose.orientation.y = drone_state.getOrientation().y();
+  odom_msg.pose.pose.orientation.z = drone_state.getOrientation().z();
+  odom_msg.pose.pose.orientation.w = drone_state.getOrientation().w();
+
+  odom_msg.twist.twist.linear.x =
+      drone_state.kinematics_estimated.twist.linear.x();
+  odom_msg.twist.twist.linear.y =
+      drone_state.kinematics_estimated.twist.linear.y();
+  odom_msg.twist.twist.linear.z =
+      drone_state.kinematics_estimated.twist.linear.z();
+  odom_msg.twist.twist.angular.x =
+      drone_state.kinematics_estimated.twist.angular.x();
+  odom_msg.twist.twist.angular.y =
+      drone_state.kinematics_estimated.twist.angular.y();
+  odom_msg.twist.twist.angular.z =
+      drone_state.kinematics_estimated.twist.angular.z();
+
+  if (isEnu) {
+    std::swap(odom_msg.pose.pose.position.x, odom_msg.pose.pose.position.y);
+    odom_msg.pose.pose.position.z = -odom_msg.pose.pose.position.z;
+
+    std::swap(odom_msg.pose.pose.orientation.x,
+              odom_msg.pose.pose.orientation.y);
+    odom_msg.pose.pose.orientation.z = -odom_msg.pose.pose.orientation.z;
+    double roll, pitch, yaw;
+    Eigen::Quaterniond attitude_quater;
+    attitude_quater.w() = odom_msg.pose.pose.orientation.w;
+    attitude_quater.x() = odom_msg.pose.pose.orientation.x;
+    attitude_quater.y() = odom_msg.pose.pose.orientation.y;
+    attitude_quater.z() = odom_msg.pose.pose.orientation.z;
+    Eigen::Matrix3d rota = attitude_quater.toRotationMatrix();
+    Eigen::Matrix3d nedtoenu;
+    nedtoenu << 0, 1, 0, 1, 0, 0, 0, 0, -1;
+    rota = nedtoenu * rota;
+    Eigen::Quaterniond enuq(rota);
+
+    odom_msg.pose.pose.orientation.w = enuq.w();
+    odom_msg.pose.pose.orientation.x = enuq.x();
+    odom_msg.pose.pose.orientation.y = enuq.y();
+    odom_msg.pose.pose.orientation.z = enuq.z();
+
+    std::swap(odom_msg.twist.twist.linear.x, odom_msg.twist.twist.linear.y);
+    odom_msg.twist.twist.linear.z = -odom_msg.twist.twist.linear.z;
+    std::swap(odom_msg.twist.twist.angular.x, odom_msg.twist.twist.angular.y);
+    odom_msg.twist.twist.angular.z = -odom_msg.twist.twist.angular.z;
+  }
+
+  return odom_msg;
+}
+
+nav_msgs::Odometry GetOdomMsgFromTruthState(
+    const msr::airlib::Kinematics::State &truth_state, bool isEnu) {
+  nav_msgs::Odometry odom_msg;
+  odom_msg.pose.pose.position.x = truth_state.pose.position.x();
+  odom_msg.pose.pose.position.y = truth_state.pose.position.y();
+  odom_msg.pose.pose.position.z = truth_state.pose.position.z();
+  odom_msg.pose.pose.orientation.x = truth_state.pose.orientation.x();
+  odom_msg.pose.pose.orientation.y = truth_state.pose.orientation.y();
+  odom_msg.pose.pose.orientation.z = truth_state.pose.orientation.z();
+  odom_msg.pose.pose.orientation.w = truth_state.pose.orientation.w();
+  odom_msg.twist.twist.linear.x = truth_state.twist.linear.x();
+  odom_msg.twist.twist.linear.y = truth_state.twist.linear.y();
+  odom_msg.twist.twist.linear.z = truth_state.twist.linear.z();
+  odom_msg.twist.twist.angular.x = truth_state.twist.angular.x();
+  odom_msg.twist.twist.angular.y = truth_state.twist.angular.y();
+  odom_msg.twist.twist.angular.z = truth_state.twist.angular.z();
+
+  if (isEnu) {
+    std::swap(odom_msg.pose.pose.position.x, odom_msg.pose.pose.position.y);
+    odom_msg.pose.pose.position.z = -odom_msg.pose.pose.position.z;
+    double roll, pitch, yaw;
+    Eigen::Quaterniond attitude_quater;
+    attitude_quater.w() = odom_msg.pose.pose.orientation.w;
+    attitude_quater.x() = odom_msg.pose.pose.orientation.x;
+    attitude_quater.y() = odom_msg.pose.pose.orientation.y;
+    attitude_quater.z() = odom_msg.pose.pose.orientation.z;  // NED
+    Eigen::Matrix3d rota = attitude_quater.toRotationMatrix();
+    Eigen::Matrix3d nedtoenu;
+    nedtoenu << 0, 1, 0, 1, 0, 0, 0, 0, -1;  // enu
+    Eigen::Matrix3d body1tobody2;
+    body1tobody2 << 1, 0, 0, 0, -1, 0, 0, 0, -1;
+    rota = nedtoenu * rota;
+    rota = rota * body1tobody2;
+    Eigen::Quaterniond enuq(rota);
+    odom_msg.pose.pose.orientation.w = enuq.w();
+    odom_msg.pose.pose.orientation.x = enuq.x();
+    odom_msg.pose.pose.orientation.y = enuq.y();
+    odom_msg.pose.pose.orientation.z = enuq.z();
+
+    std::swap(odom_msg.twist.twist.linear.x, odom_msg.twist.twist.linear.y);
+    odom_msg.twist.twist.linear.z = -odom_msg.twist.twist.linear.z;
+    odom_msg.twist.twist.angular.y = -odom_msg.twist.twist.angular.y;
+    odom_msg.twist.twist.angular.z = -odom_msg.twist.twist.angular.z;
+  }
+
+  return odom_msg;
+}
+
+sensor_msgs::PointCloud2 GetLidarMsgFromAirsim(
+    const msr::airlib::LidarData &lidar_data, const std::string &vehicle_name,
+    bool isEnu) {
+  sensor_msgs::PointCloud2 lidar_msg;
+  lidar_msg.header.stamp = ros::Time::now();
+  lidar_msg.header.frame_id = vehicle_name;
+
+  if (lidar_data.point_cloud.size() > 3) {
+    lidar_msg.height = 1;
+    lidar_msg.width = lidar_data.point_cloud.size() / 3;
+
+    lidar_msg.fields.resize(3);
+    lidar_msg.fields[0].name = "x";
+    lidar_msg.fields[1].name = "y";
+    lidar_msg.fields[2].name = "z";
+
+    int offset = 0;
+
+    for (size_t d = 0; d < lidar_msg.fields.size(); ++d, offset += 4) {
+      lidar_msg.fields[d].offset = offset;
+      lidar_msg.fields[d].datatype = sensor_msgs::PointField::FLOAT32;
+      lidar_msg.fields[d].count = 1;
+    }
+
+    lidar_msg.is_bigendian = false;
+    lidar_msg.point_step = offset;  // 4 * num fields
+    lidar_msg.row_step = lidar_msg.point_step * lidar_msg.width;
+
+    lidar_msg.is_dense = true;  // todo
+    std::vector<float> data_std = lidar_data.point_cloud;
+
+    const unsigned char *bytes =
+        reinterpret_cast<const unsigned char *>(data_std.data());
+    std::vector<unsigned char> lidar_msg_data(
+        bytes, bytes + sizeof(float) * data_std.size());
+    lidar_msg.data = std::move(lidar_msg_data);
+  } else {
+    // msg = []
+  }
+
+  if (isEnu) {
+    // transform lidar_msg to ENU not using ROS library.
+    sensor_msgs::PointCloud2 lidar_msg_enu;
+    lidar_msg_enu.header.stamp = ros::Time::now();
+    lidar_msg_enu.header.frame_id = vehicle_name;
+    lidar_msg_enu.height = lidar_msg.height;
+    lidar_msg_enu.width = lidar_msg.width;
+    lidar_msg_enu.fields.resize(3);
+    lidar_msg_enu.fields[0].name = "x";
+    lidar_msg_enu.fields[1].name = "y";
+    lidar_msg_enu.fields[2].name = "z";
+    int offset = 0;
+    for (size_t d = 0; d < lidar_msg_enu.fields.size(); ++d, offset += 4) {
+      lidar_msg_enu.fields[d].offset = offset;
+      lidar_msg_enu.fields[d].datatype = sensor_msgs::PointField::FLOAT32;
+      lidar_msg_enu.fields[d].count = 1;
+    }
+    lidar_msg_enu.is_bigendian = false;
+    lidar_msg_enu.point_step = offset;  // 4 * num fields
+    lidar_msg_enu.row_step = lidar_msg_enu.point_step * lidar_msg_enu.width;
+    lidar_msg_enu.is_dense = true;  // todo
+    std::vector<float> data_std = lidar_data.point_cloud;
+    for (size_t i = 0; i < data_std.size(); i += 3) {
+      std::swap(data_std[i], data_std[i + 1]);
+      data_std[i + 2] = -data_std[i + 2];
+    }
+    const unsigned char *bytes =
+        reinterpret_cast<const unsigned char *>(data_std.data());
+    std::vector<unsigned char> lidar_msg_data(
+        bytes, bytes + sizeof(float) * data_std.size());
+    lidar_msg_enu.data = std::move(lidar_msg_data);
+    lidar_msg = lidar_msg_enu;
+  }
+
+  return lidar_msg;
+}
+
+airsim_ros_pkgs::Environment GetEnvironmentMsgFromAirsim(
+    const msr::airlib::Environment::State &env_data) {
+  airsim_ros_pkgs::Environment env_msg;
+  env_msg.position.x = env_data.position.x();
+  env_msg.position.y = env_data.position.y();
+  env_msg.position.z = env_data.position.z();
+  env_msg.geo_point.latitude = env_data.geo_point.latitude;
+  env_msg.geo_point.longitude = env_data.geo_point.longitude;
+  env_msg.geo_point.altitude = env_data.geo_point.altitude;
+  env_msg.gravity.x = env_data.gravity.x();
+  env_msg.gravity.y = env_data.gravity.y();
+  env_msg.gravity.z = env_data.gravity.z();
+  env_msg.air_pressure = env_data.air_pressure;
+  env_msg.temperature = env_data.temperature;
+  env_msg.air_density = env_data.temperature;
+
+  return env_msg;
+}
+
+sensor_msgs::MagneticField GetMagMsgFromAirsim(
+    const msr::airlib::MagnetometerBase::Output &mag_data) {
+  sensor_msgs::MagneticField mag_msg;
+  mag_msg.magnetic_field.x = mag_data.magnetic_field_body.x();
+  mag_msg.magnetic_field.y = mag_data.magnetic_field_body.y();
+  mag_msg.magnetic_field.z = mag_data.magnetic_field_body.z();
+  std::copy(std::begin(mag_data.magnetic_field_covariance),
+            std::end(mag_data.magnetic_field_covariance),
+            std::begin(mag_msg.magnetic_field_covariance));
+  mag_msg.header.stamp = AirsimTimeToRosTime(mag_data.time_stamp);
+
+  return mag_msg;
+}
+
+sensor_msgs::NavSatFix GetGpsMsgFromAirsim(
+    const msr::airlib::GpsBase::Output &gps_data) {
+  sensor_msgs::NavSatFix gps_msg;
+  gps_msg.header.stamp = AirsimTimeToRosTime(gps_data.time_stamp);
+  gps_msg.latitude = gps_data.gnss.geo_point.latitude;
+  gps_msg.longitude = gps_data.gnss.geo_point.longitude;
+  gps_msg.altitude = gps_data.gnss.geo_point.altitude;
+  gps_msg.status.service = sensor_msgs::NavSatStatus::SERVICE_GLONASS;
+  gps_msg.status.status = gps_data.gnss.fix_type;
+
+  return gps_msg;
+}
+
+sensor_msgs::Range GetRangeFromAirsim(
+    const msr::airlib::DistanceSensorData &dist_data) {
+  sensor_msgs::Range dist_msg;
+  dist_msg.header.stamp = AirsimTimeToRosTime(dist_data.time_stamp);
+  dist_msg.range = dist_data.distance;
+  dist_msg.min_range = dist_data.min_distance;
+  dist_msg.max_range = dist_data.min_distance;
+
+  return dist_msg;
+}
+
+airsim_ros_pkgs::Altimeter GetAltimeterMsgFromAirsim(
+    const msr::airlib::BarometerBase::Output &alt_data);
+
+sensor_msgs::Imu GetImuMsgFromAirsim(
+    const msr::airlib::ImuBase::Output &imu_data);
+
 }  // namespace helper_functions
 }  // namespace messages
 }  // namespace airsim_ros