diff --git a/CMakeLists.txt b/CMakeLists.txt
index cf92c4f06f5df59c558247fba212134a7e3e361d..014f5dc326fb1b56b17478b3f86b299ef1643414 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,18 +1,20 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(robokudo_msgs)
 
-find_package(catkin REQUIRED actionlib message_generation std_msgs geometry_msg>
+find_package(catkin REQUIRED actionlib message_generation std_msgs geometry_msgs sensor_msgs)
 
 add_message_files(
   FILES
   ObjectDesignator.msg
-  Dimensions.msg
-  ObjectSize.msg
+  ShapeSize.msg
 )
 
-add_action_files(DIRECTORY action FILES Query.action GenericImgProcAnnotator.ac>
+add_action_files(DIRECTORY action FILES
+    Query.action
+    GenericImgProcAnnotator.action
+    GenericImgListProcAnnotator.action)
 
-generate_messages(DEPENDENCIES std_msgs actionlib_msgs geometry_msgs sensor_msg>
+generate_messages(DEPENDENCIES std_msgs actionlib_msgs geometry_msgs sensor_msgs)
 
 catkin_package(
   CATKIN_DEPENDS message_runtime rospy actionlib
diff --git a/msg/Dimensions.msg b/msg/Dimensions.msg
deleted file mode 100644
index de0f556677f7746eef213af304dc574335fe27de..0000000000000000000000000000000000000000
--- a/msg/Dimensions.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-float32 x_size
-float32 y_size
-float32 z_size
\ No newline at end of file
diff --git a/msg/ObjectDesignator.msg b/msg/ObjectDesignator.msg
index 13e71837c8458649a5d12727788ae494b24cd559..7c5874c86a9a4b035ade90c72a8fccc11e2b27e3 100644
--- a/msg/ObjectDesignator.msg
+++ b/msg/ObjectDesignator.msg
@@ -3,7 +3,7 @@
 string uid                              # Object's unique identifier
 string type                             # Object's type
 string[] shape                          # Object's possible shapes
-ObjectSize shape_size                   # Object's possible sizes like dimensions or radius
+ShapeSize shape_size                   # Object's possible sizes like dimensions or radius
 string[] color                          # Object's possible colors
 string location                         # Object's location
 string size                             # Object's size
diff --git a/msg/ObjectSize.msg b/msg/ObjectSize.msg
deleted file mode 100644
index 9d0959f361ef8cd4895eb3a0edbfa06c8ec35a3d..0000000000000000000000000000000000000000
--- a/msg/ObjectSize.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-Dimensions dimensions
-float32 radius
\ No newline at end of file
diff --git a/msg/ShapeSize.msg b/msg/ShapeSize.msg
new file mode 100644
index 0000000000000000000000000000000000000000..c550745ab72f6b450d32243f868f2460c0667d0f
--- /dev/null
+++ b/msg/ShapeSize.msg
@@ -0,0 +1,2 @@
+geometry_msgs/Vector3 dimensions
+float32 radius
\ No newline at end of file