diff --git a/repositories/common_interfaces.BUILD.bazel b/repositories/common_interfaces.BUILD.bazel
index f81f293e..e738bc5e 100644
--- a/repositories/common_interfaces.BUILD.bazel
+++ b/repositories/common_interfaces.BUILD.bazel
@@ -160,6 +160,97 @@ py_library(
     ],
 )
 
+ros2_interface_library(
+    name = "shape_msgs",
+    srcs = glob([
+        "shape_msgs/msg/*.msg",
+    ]),
+    visibility = ["//visibility:public"],
+    deps = [
+        ":geometry_msgs",
+    ],
+)
+
+cpp_ros2_interface_library(
+    name = "_cpp_shape_msgs",
+    visibility = ["//visibility:private"],
+    deps = [":shape_msgs"],
+)
+
+ros2_cpp_library(
+    name = "cpp_shape_msgs",
+    hdrs = glob([
+        "shape_msgs/include/**/*.hpp",
+    ]),
+    includes = ["shape_msgs/include"],
+    visibility = ["//visibility:public"],
+    deps = [":_cpp_shape_msgs"],
+)
+
+py_ros2_interface_library(
+    name = "_py_shape_msgs",
+    visibility = ["//visibility:private"],
+    deps = [":shape_msgs"],
+)
+
+py_library(
+    name = "py_shape_msgs",
+    srcs = glob(
+        ["shape_msgs_py/shape_msgs_py/**/*.py"],
+    ),
+    imports = ["shape_msgs_py"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":_py_shape_msgs",
+    ],
+)
+
+ros2_interface_library(
+    name = "stereo_msgs",
+    srcs = glob([
+        "stereo_msgs/msg/*.msg",
+    ]),
+    visibility = ["//visibility:public"],
+    deps = [
+        ":sensor_msgs",
+        ":std_msgs",
+    ],
+)
+
+cpp_ros2_interface_library(
+    name = "_cpp_stereo_msgs",
+    visibility = ["//visibility:private"],
+    deps = [":stereo_msgs"],
+)
+
+ros2_cpp_library(
+    name = "cpp_stereo_msgs",
+    hdrs = glob([
+        "stereo_msgs/include/**/*.hpp",
+    ]),
+    includes = ["stereo_msgs/include"],
+    visibility = ["//visibility:public"],
+    deps = [":_cpp_stereo_msgs"],
+)
+
+py_ros2_interface_library(
+    name = "_py_stereo_msgs",
+    visibility = ["//visibility:private"],
+    deps = [":stereo_msgs"],
+)
+
+py_library(
+    name = "py_stereo_msgs",
+    srcs = glob(
+        ["stereo_msgs_py/stereo_msgs_py/**/*.py"],
+    ),
+    imports = ["stereo_msgs_py"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":_py_stereo_msgs",
+    ],
+)
+
 ros2_interface_library(
     name = "visualization_msgs",
     srcs = glob([