diff --git a/docu/notes_ros_messages.txt b/docu/notes_ros_messages.txt
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+++ b/docu/notes_ros_messages.txt
@@ -0,0 +1,56 @@
+Creating ros package with catkin and adding custom messages:
+############################################################
+1. Create a workspace:
+----------------------
+$ mkdir catkin_ws
+$ cd catkin_ws
+$ mkdir src
+$ catkin_make
+$ source devel/setup.bash
+
+2. Create the package:
+----------------------
+$ cd catkin_ws/src
+$ catkin_create_pkg <package_name> std_msgs rospy roscpp
+$ cd ..
+$ catkin_make # this build the package
+
+3. Create the custom messages:
+------------------------------
+$ cd catkin_ws/src/<package_name>
+$ mkdir msg
+$ cd msg
+$ echo "int64 num" > Num.msg
+Then edit the package.xml file and add the following:
+  <build_depend>message_generation</build_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+Also edit CMakeLists.txt and to the find_package() function add:
+ message_generation
+and to the catkin_package() add:
+ CATKIN_DEPENDS message_runtime
+
+Then, find add_message_files() (uncomment if necessary) and change it to the following:
+add_message_files(
+  FILES
+  Num.msg
+)
+
+Finally, uncomment the generate_messages() function such that it reads:
+ generate_messages(
+   DEPENDENCIES
+   std_msgs
+ )
+
+To build the new messages do the following:
+$ cd catkin_ws
+$ catkin_make # builds the new messages
+$ catkin_make install
+
+As the last step, source the setup.bash:
+$ . install/setup.bash
+
+Now the new messages should be available and you can find them with
+$ rosmsg list
+
+Don't forget to source the setup.bash everytime you want to use the messages!
diff --git a/docu/notes_ros_setup.txt b/docu/notes_ros_setup.txt
new file mode 100644
index 0000000..5dfadcd
--- /dev/null
+++ b/docu/notes_ros_setup.txt
@@ -0,0 +1,8 @@
+1. Install ROS (Robot Operating System) (see: http://wiki.ros.org/kinetic/Installation/Ubuntu)
+
+2. Install the following dependencies:
+- cv_camera (see: http://wiki.ros.org/cv_camera):
+ $ sudo apt-get install ros-kinetic-cv-camera
+- Aruco Marker detection using fiducials package (see: http://wiki.ros.org/fiducials)
+ $ sudo apt-get install ros-kinetic-fiducials
+-