diff --git a/cav_msgs/msg/CarlaEnabled.msg b/cav_msgs/msg/CarlaEnabled.msg
new file mode 100644
index 00000000..e88fa33d
--- /dev/null
+++ b/cav_msgs/msg/CarlaEnabled.msg
@@ -0,0 +1,9 @@
+# CarlaEnabled.msg
+
+# This message is feedback to the system to inform the ROS network that 
+# Carla starts and is ready for the simulation
+
+# @author Fang Zhou
+
+#Status of carla_enabled
+bool carla_enabled
\ No newline at end of file