diff --git a/sensor_msgs/CMakeLists.txt b/sensor_msgs/CMakeLists.txt
index d1d7484b..57599369 100644
--- a/sensor_msgs/CMakeLists.txt
+++ b/sensor_msgs/CMakeLists.txt
@@ -13,6 +13,8 @@ add_message_files(
   CameraInfo.msg
   ChannelFloat32.msg
   CompressedImage.msg
+  FluidPressure.msg
+  Illuminance.msg
   Image.msg
   Imu.msg
   JointState.msg
@@ -21,6 +23,7 @@ add_message_files(
   JoyFeedbackArray.msg
   LaserEcho.msg
   LaserScan.msg
+  MagneticField.msg
   MultiEchoLaserScan.msg
   NavSatFix.msg
   NavSatStatus.msg
@@ -29,6 +32,8 @@ add_message_files(
   PointField.msg
   Range.msg
   RegionOfInterest.msg
+  RelativeHumidity.msg
+  Temperature.msg
   TimeReference.msg)
 
 add_service_files(
diff --git a/sensor_msgs/msg/FluidPressure.msg b/sensor_msgs/msg/FluidPressure.msg
new file mode 100644
index 00000000..0d7c5d7d
--- /dev/null
+++ b/sensor_msgs/msg/FluidPressure.msg
@@ -0,0 +1,12 @@
+ # Single pressure reading.  This message is appropriate for measuring the
+ # pressure inside of a fluid (air, water, etc).  This also includes
+ # atmospheric or barometric pressure.
+
+ # This message is not appropriate for force/pressure contact sensors.
+
+ Header header           # timestamp of the measurement
+                         # frame_id is the location of the pressure sensor
+
+ float64 fluid_pressure  # Absolute pressure reading in Pascals.
+
+ float64 variance        # 0 is interpreted as variance unknown
\ No newline at end of file
diff --git a/sensor_msgs/msg/Illuminance.msg b/sensor_msgs/msg/Illuminance.msg
new file mode 100644
index 00000000..cdb4d760
--- /dev/null
+++ b/sensor_msgs/msg/Illuminance.msg
@@ -0,0 +1,21 @@
+ # Single photometric illuminance measurement.  Light should be assumed to be
+ # measured along the sensor's x-axis (the area of detection is the y-z plane).
+ # The illuminance should have a 0 or positive value and be received with
+ # the sensor's +X axis pointing toward the light source.
+
+ # Photometric illuminance is the measure of the human eye's sensitivity of the
+ # intensity of light encountering or passing through a surface.
+
+ # All other Photometric and Radiometric measurements should
+ # not use this message.
+ # This message cannot represent:
+ # Luminous intensity (candela/light source output)
+ # Luminance (nits/light output per area)
+ # Irradiance (watt/area), etc.
+
+ Header header           # timestamp is the time the illuminance was measured
+                         # frame_id is the location and direction of the reading
+
+ float64 illuminance     # Measurement of the Photometric Illuminance in Lux.
+
+ float64 variance        # 0 is interpreted as variance unknown
\ No newline at end of file
diff --git a/sensor_msgs/msg/MagneticField.msg b/sensor_msgs/msg/MagneticField.msg
new file mode 100644
index 00000000..dae0e22e
--- /dev/null
+++ b/sensor_msgs/msg/MagneticField.msg
@@ -0,0 +1,22 @@
+ # Measurement of the Magnetic Field vector at a specific location.
+
+ # If the covariance of the measurement is known, it should be filled in
+ # (if all you know is the variance of each measurement, e.g. from the datasheet,
+ #just put those along the diagonal)
+ # A covariance matrix of all zeros will be interpreted as "covariance unknown",
+ # and to use the data a covariance will have to be assumed or gotten from some
+ # other source
+
+
+ Header header                        # timestamp is the time the
+                                      # field was measured
+                                      # frame_id is the location and orientation
+                                      # of the field measurement
+
+ geometry_msgs/Vector3 magnetic_field # x, y, and z components of the
+                                      # field vector in Tesla
+                                      # If your sensor does not output 3 axes,
+                                      # put NaNs in the components not reported.
+
+ float64[9] magnetic_field_covariance # Row major about x, y, z axes
+                                      # 0 is interpreted as variance unknown
\ No newline at end of file
diff --git a/sensor_msgs/msg/RelativeHumidity.msg b/sensor_msgs/msg/RelativeHumidity.msg
new file mode 100644
index 00000000..202421f9
--- /dev/null
+++ b/sensor_msgs/msg/RelativeHumidity.msg
@@ -0,0 +1,12 @@
+ # Single reading from a relative humidity sensor.  Defines the ratio of partial
+ # pressure of water vapor to the saturated vapor pressure at a temperature.
+
+ Header header             # timestamp of the measurement
+                           # frame_id is the location of the humidity sensor
+
+ float64 relative_humidity # Expression of the relative humidity
+                           # from 0.0 to 1.0.
+                           # 0.0 is no partial pressure of water vapor
+                           # 1.0 represents partial pressure of saturation
+
+ float64 variance          # 0 is interpreted as variance unknown
\ No newline at end of file
diff --git a/sensor_msgs/msg/Temperature.msg b/sensor_msgs/msg/Temperature.msg
new file mode 100644
index 00000000..7c6a4f76
--- /dev/null
+++ b/sensor_msgs/msg/Temperature.msg
@@ -0,0 +1,8 @@
+ # Single temperature reading.
+
+ Header header           # timestamp is the time the temperature was measured
+                         # frame_id is the location of the temperature reading
+
+ float64 temperature     # Measurement of the Temperature in Degrees Celsius
+
+ float64 variance        # 0 is interpreted as variance unknown
\ No newline at end of file