diff --git a/ros/angel_msgs/CMakeLists.txt b/ros/angel_msgs/CMakeLists.txt
index 6d1645aa5..692667a4e 100644
--- a/ros/angel_msgs/CMakeLists.txt
+++ b/ros/angel_msgs/CMakeLists.txt
@@ -28,6 +28,7 @@ set( message_files
   msg/AruiObject3d.msg
   msg/AruiUpdate.msg
   msg/AruiUserNotification.msg
+  msg/DialogueUtterance.msg
   msg/EyeGazeData.msg
   msg/HandJointPose.msg
   msg/HandJointPosesUpdate.msg
diff --git a/ros/angel_msgs/msg/DialogueUtterance.msg b/ros/angel_msgs/msg/DialogueUtterance.msg
new file mode 100644
index 000000000..49d3122ee
--- /dev/null
+++ b/ros/angel_msgs/msg/DialogueUtterance.msg
@@ -0,0 +1,24 @@
+#
+# Dialogue Utterance with additional information about the environmental state
+# and user model. 
+#
+
+# The header primarily encapsulates when this message was emitted.
+# The time component of this may be utilized as an identifier for this user
+# intent and utterance.
+std_msgs/Header header
+
+# Speech-to-text of the user utterance we have interpreted
+string utterance_text
+
+# Below are optional fields 
+
+# Canonical user intent that has been interpreted. "Canonical" in this context
+# is to mean that this string may be used as an identifier of this type of
+# user intent. Should be in the range [0,1] where 1.0 means absolute confidence.
+string intent
+float64 intent_confidence_score
+
+# Emotion classification. Should be in the range [0,1] where 1.0 means absolute confidence.
+string emotion
+float64 emotion_confidence_score
diff --git a/unity/ARUI/Assets/RosMessages/Angel/msg/DialogueUtteranceMsg.cs b/unity/ARUI/Assets/RosMessages/Angel/msg/DialogueUtteranceMsg.cs
new file mode 100644
index 000000000..2e1479edd
--- /dev/null
+++ b/unity/ARUI/Assets/RosMessages/Angel/msg/DialogueUtteranceMsg.cs
@@ -0,0 +1,99 @@
+//Do not edit! This file was generated by Unity-ROS MessageGeneration.
+using System;
+using System.Linq;
+using System.Collections.Generic;
+using System.Text;
+using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+
+namespace RosMessageTypes.Angel
+{
+    [Serializable]
+    public class DialogueUtteranceMsg : Message
+    {
+        public const string k_RosMessageName = "angel_msgs/DialogueUtterance";
+        public override string RosMessageName => k_RosMessageName;
+
+        // 
+        //  Dialogue Utterance with additional information about the environmental state
+        //  and user model. 
+        // 
+        //  The header primarily encapsulates when this message was emitted.
+        //  The time component of this may be utilized as an identifier for this user
+        //  intent and utterance.
+        public Std.HeaderMsg header;
+        //  Speech-to-text of the user utterance we have interpreted
+        public string utterance_text;
+        //  Below are optional fields 
+        //  Canonical user intent that has been interpreted. "Canonical" in this context
+        //  is to mean that this string may be used as an identifier of this type of
+        //  user intent. Should be in the range [0,1] where 1.0 means absolute confidence.
+        public string intent;
+        public double intent_confidence_score;
+        //  Emotion classification. Should be in the range [0,1] where 1.0 means absolute confidence.
+        public string emotion;
+        public double emotion_confidence_score;
+
+        public DialogueUtteranceMsg()
+        {
+            this.header = new Std.HeaderMsg();
+            this.utterance_text = "";
+            this.intent = "";
+            this.intent_confidence_score = 0.0;
+            this.emotion = "";
+            this.emotion_confidence_score = 0.0;
+        }
+
+        public DialogueUtteranceMsg(Std.HeaderMsg header, string utterance_text, string intent, double intent_confidence_score, string emotion, double emotion_confidence_score)
+        {
+            this.header = header;
+            this.utterance_text = utterance_text;
+            this.intent = intent;
+            this.intent_confidence_score = intent_confidence_score;
+            this.emotion = emotion;
+            this.emotion_confidence_score = emotion_confidence_score;
+        }
+
+        public static DialogueUtteranceMsg Deserialize(MessageDeserializer deserializer) => new DialogueUtteranceMsg(deserializer);
+
+        private DialogueUtteranceMsg(MessageDeserializer deserializer)
+        {
+            this.header = Std.HeaderMsg.Deserialize(deserializer);
+            deserializer.Read(out this.utterance_text);
+            deserializer.Read(out this.intent);
+            deserializer.Read(out this.intent_confidence_score);
+            deserializer.Read(out this.emotion);
+            deserializer.Read(out this.emotion_confidence_score);
+        }
+
+        public override void SerializeTo(MessageSerializer serializer)
+        {
+            serializer.Write(this.header);
+            serializer.Write(this.utterance_text);
+            serializer.Write(this.intent);
+            serializer.Write(this.intent_confidence_score);
+            serializer.Write(this.emotion);
+            serializer.Write(this.emotion_confidence_score);
+        }
+
+        public override string ToString()
+        {
+            return "DialogueUtteranceMsg: " +
+            "\nheader: " + header.ToString() +
+            "\nutterance_text: " + utterance_text.ToString() +
+            "\nintent: " + intent.ToString() +
+            "\nintent_confidence_score: " + intent_confidence_score.ToString() +
+            "\nemotion: " + emotion.ToString() +
+            "\nemotion_confidence_score: " + emotion_confidence_score.ToString();
+        }
+
+#if UNITY_EDITOR
+        [UnityEditor.InitializeOnLoadMethod]
+#else
+        [UnityEngine.RuntimeInitializeOnLoadMethod]
+#endif
+        public static void Register()
+        {
+            MessageRegistry.Register(k_RosMessageName, Deserialize);
+        }
+    }
+}
\ No newline at end of file
diff --git a/unity/ARUI/Assets/RosMessages/Angel/msg/DialogueUtteranceMsg.cs.meta b/unity/ARUI/Assets/RosMessages/Angel/msg/DialogueUtteranceMsg.cs.meta
new file mode 100644
index 000000000..5d154c5ad
--- /dev/null
+++ b/unity/ARUI/Assets/RosMessages/Angel/msg/DialogueUtteranceMsg.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 244f6af8d6d7e4c18a6e2d52b444d387
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
\ No newline at end of file