diff --git a/planner_msgs/CMakeLists.txt b/planner_msgs/CMakeLists.txt
index 2be0de94..3cf6d0c9 100644
--- a/planner_msgs/CMakeLists.txt
+++ b/planner_msgs/CMakeLists.txt
@@ -10,6 +10,7 @@ add_message_files(
   FILES
   NavigationStatus.msg
   TerrainInfo.msg
+  MctsInfo.msg
 )
 
 add_service_files(
diff --git a/planner_msgs/msg/MctsInfo.msg b/planner_msgs/msg/MctsInfo.msg
new file mode 100644
index 00000000..16525b5f
--- /dev/null
+++ b/planner_msgs/msg/MctsInfo.msg
@@ -0,0 +1,6 @@
+# Terrain Information
+#
+
+std_msgs/Header header
+
+std_msgs/Int32 number_iterations