diff --git a/geometry_msgs/CMakeLists.txt b/geometry_msgs/CMakeLists.txt
index 9d5df7ab..89e4e177 100644
--- a/geometry_msgs/CMakeLists.txt
+++ b/geometry_msgs/CMakeLists.txt
@@ -25,6 +25,8 @@ set(msg_files
   "msg/Point32.msg"
   "msg/PointStamped.msg"
   "msg/Polygon.msg"
+  "msg/PolygonInstance.msg"
+  "msg/PolygonInstanceStamped.msg"
   "msg/PolygonStamped.msg"
   "msg/Pose.msg"
   "msg/Pose2D.msg"
diff --git a/geometry_msgs/msg/PolygonInstance.msg b/geometry_msgs/msg/PolygonInstance.msg
new file mode 100644
index 00000000..cb823162
--- /dev/null
+++ b/geometry_msgs/msg/PolygonInstance.msg
@@ -0,0 +1,5 @@
+# A specification of a polygon where the first and last points are assumed to be connected
+# It includes a unique identification field for disambiguating multiple instances
+
+geometry_msgs/Polygon polygon
+int64 id
\ No newline at end of file
diff --git a/geometry_msgs/msg/PolygonInstanceStamped.msg b/geometry_msgs/msg/PolygonInstanceStamped.msg
new file mode 100644
index 00000000..33bc2d55
--- /dev/null
+++ b/geometry_msgs/msg/PolygonInstanceStamped.msg
@@ -0,0 +1,5 @@
+# This represents a Polygon with reference coordinate frame and timestamp
+# It includes a unique identification field for disambiguating multiple instances
+
+std_msgs/Header header
+geometry_msgs/PolygonInstance polygon
\ No newline at end of file