diff --git a/msg/EulerAngles.msg b/msg/EulerAngles.msg
new file mode 100644
index 0000000..6cdbf17
--- /dev/null
+++ b/msg/EulerAngles.msg
@@ -0,0 +1,5 @@
+# Used for debugging quaternion cmds
+# 
+#std_msgs/Header header			# Timestamp
+geometry_msgs/Vector3 commanded		# Commanded Attitude
+geometry_msgs/Vector3 desired		# Desired Attitude - Jaeyoung Ctrl