diff --git a/mission/joystick_interface/CMakeLists.txt b/mission/joystick_interface/CMakeLists.txt
new file mode 100644
index 00000000..751a5b72
--- /dev/null
+++ b/mission/joystick_interface/CMakeLists.txt
@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.8)
+project(joystick_interface)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/mission/joystick_interface/package.xml b/mission/joystick_interface/package.xml
new file mode 100644
index 00000000..4b61f1f9
--- /dev/null
+++ b/mission/joystick_interface/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>joystick_interface</name>
+  <version>0.0.0</version>
+  <description>Joystick interface package</description>
+  <maintainer email="aleksos@ntnu.no">aleksos</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/mission/joystick_interface/scripts/__init__.py b/mission/joystick_interface/scripts/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/mission/joystick_interface/scripts/joystick_interface.py b/mission/joystick_interface/scripts/joystick_interface.py
new file mode 100644
index 00000000..7f78170b
--- /dev/null
+++ b/mission/joystick_interface/scripts/joystick_interface.py
@@ -0,0 +1,13 @@
+from geometry_msgs.msg import Wrench
+
+class JoystickInterface:
+    def __init__(self):
+        self.wrench_pub 
+    
+    def create_2d_wrench_message(self,x,y,yaw):
+        wrench_msg = Wrench()
+        wrench_msg.force.x = x
+        wrench_msg.force.y = y
+        wrench_msg.torque.z = yaw
+        return wrench_msg
+    
diff --git a/mission/joystick_interface/scripts/test/__init__.py b/mission/joystick_interface/scripts/test/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/mission/joystick_interface/scripts/test/test_joystick_interface.py b/mission/joystick_interface/scripts/test/test_joystick_interface.py
new file mode 100644
index 00000000..e87a2740
--- /dev/null
+++ b/mission/joystick_interface/scripts/test/test_joystick_interface.py
@@ -0,0 +1,9 @@
+from scripts.joystick_interface import JoystickInterface
+from geometry_msgs.msg import Wrench
+
+class TestJoystickInterface:
+    def test_2d_wrench_msg(self):
+        msg = JoystickInterface().create_2d_wrench_message(2.0, 3.0, 4.0)
+        assert msg.force.x == 2.0
+        assert msg.force.y == 3.0
+        assert msg.torque.z == 4.0