diff --git a/packet/packet_composed/CMakeLists.txt b/packet/packet_composed/CMakeLists.txt
new file mode 100644
index 0000000..233c0f1
--- /dev/null
+++ b/packet/packet_composed/CMakeLists.txt
@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.8)
+project(packet_composed)
+
+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)
+find_package(rclcpp REQUIRED)
+find_package(packet_interfaces REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+ add_executable(Composed
+  src/composed_main.cpp
+  src/composed.cpp
+ )
+
+ ament_target_dependencies(Composed
+   rclcpp
+   std_msgs
+   sensor_msgs
+   packet_interfaces
+ )
+
+ target_include_directories(Composed
+   PUBLIC
+     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+     $<INSTALL_INTERFACE:include>
+ )
+ install(TARGETS
+     Composed
+   DESTINATION lib/${PROJECT_NAME}
+ )
+
+ament_package()
+
diff --git a/packet/packet_composed/include/packet_composed/sensorspacket.hpp b/packet/packet_composed/include/packet_composed/sensorspacket.hpp
new file mode 100644
index 0000000..d383d10
--- /dev/null
+++ b/packet/packet_composed/include/packet_composed/sensorspacket.hpp
@@ -0,0 +1,47 @@
+#ifndef PACKET_COMPOSED_SENSORSPACKET_HPP
+#define PACKET_COMPOSED_SENSORSPACKET_HPP
+
+#include <memory>
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+class Composed : public rclcpp::Node {
+private:
+    rclcpp::Publisher<packet_interfaces::msg::Composed>::SharedPtr composed_publisher;
+    rclcpp::Subscription<packet_interfaces::msg::Depth>::SharedPtr depth_subscription;
+    rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr         imu_subscription;
+    rclcpp::Subscription<packet_interfaces::msg::Flex>::SharedPtr  flex1_subscription;
+    rclcpp::Subscription<packet_interfaces::msg::Flex>::SharedPtr  flex2_subscription;
+    rclcpp::Subscription<packet_interfaces::msg::Current>::SharedPtr  current_subscription;
+    rclcpp::Subscription<packet_interfaces::msg::Voltage>::SharedPtr  voltage_subscription;
+
+    rclcpp::TimerBase::SharedPtr _timer;
+    packet_interfaces::msg::Composed composed_msg;
+
+    void _loop();
+    void depth_topic_callback(const packet_interfaces::msg::Depth& msg);
+    void imu_topic_callback(const sensor_msgs::msg::Imu& msg);
+    void flex1_topic_callback(const packet_interfaces::msg::Flex1& msg);
+    void flex2_topic_callback(const packet_interfaces::msg::Flex2& msg);
+    void current_topic_callback(const packet_interfaces::msg::current& msg);
+    void voltage_topic_callback(const packet_interfaces::msg::voltage& msg);
+
+    packet_interfaces::msg::Depth _depth;
+    sensor_msgs::msg::Imu _imu;
+    packet_interfaces::msg::Flex _flex1;
+    packet_interfaces::msg::Flex _flex2;
+    packet_interfaces::msg::Current _current;
+    packet_interfaces::msg::Voltage _voltage;
+
+    bool _depth_received;
+    bool _imu_received;
+    bool _flex1_received;
+    bool _flex2_received;
+    bool _current_received;
+    bool _voltage_received;
+
+public:
+    Composed();
+};
+
+#endif // PACKET_COMPOSED_SENSORPACKET_HPP
diff --git a/packet/packet_composed/package.xml b/packet/packet_composed/package.xml
new file mode 100644
index 0000000..0f77539
--- /dev/null
+++ b/packet/packet_composed/package.xml
@@ -0,0 +1,17 @@
+<?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>packet_composed</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="norikonakano@todo.todo">norikonakano</maintainer>
+   <license>MIT</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>packet_interfaces</depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/packet/packet_composed/src/composed.cpp b/packet/packet_composed/src/composed.cpp
new file mode 100644
index 0000000..2b85384
--- /dev/null
+++ b/packet/packet_composed/src/composed.cpp
@@ -0,0 +1,107 @@
+#include <chrono>
+#include <functional>
+#include <string>
+#include "packet_composed/sensorspacket.hpp"
+
+
+Composed::Composed() :
+    rclcpp::Node("composed"),
+    _timer(),
+    _depth(),
+    _imu(),
+    _flex1(),
+    _flex2(),
+    _current(),
+    _voltage(),
+    _depth_received(false),
+    _imu_received(false),
+    _flex1_received(false),
+    _flex2_received(false),
+    _current_received(false),
+    _voltage_received(false)
+{
+
+    using namespace std::chrono_literals;
+    composed_publisher = this->create_publisher<packet_interfaces::msg::Composed>("sensors_composed", 10);
+
+    depth_subscription = this->create_subscription<packet_interfaces::msg::Depth>(
+        "sensors/depth", 10, std::bind(&Composed::depth_topic_callback, this, std::placeholders::_1));
+
+    imu_subscription = this->create_subscription<sensor_msgs::msg::Imu>(
+        "sensors/imu", 10, std::bind(&Composed::imu_topic_callback, this, std::placeholders::_1));
+
+    flex1_subscription = this->create_subscription<packet_interfaces::msg::Flex>(
+        "sensors/flex/1", 10, std::bind(&Composed::flex1_topic_callback, this, std::placeholders::_1));
+
+    flex2_subscription = this->create_subscription<packet_interfaces::msg::Flex>(
+        "sensors/flex/2", 10, std::bind(&Composed::flex2_topic_callback, this, std::placeholders::_1));
+    
+    current_subscription = this->create_subscription<packet_interfaces::msg::Current>(
+        "sensors/current", 10, std::bind(&Composed::current_topic_callback, this, std::placeholders::_1));
+
+    voltage_subscription = this->create_subscription<packet_interfaces::msg::Voltage>(
+        "sensors/voltage", 10, std::bind(&Composed::voltage_topic_callback, this, std::placeholders::_1));
+   
+    auto loop = std::bind(&Composed::_loop, this);
+    _timer = this->create_wall_timer(10ms, loop);
+}
+
+void Composed::_loop() {
+
+    if (_depth_received && _imu_received && _flex1_received && _flex2_received && _current_received && _voltage_received) 
+    {
+        auto composed_msg = packet_interfaces::msg::Composed();
+        composed_msg.depth = _depth;
+        composed_msg.imu = _imu;
+        composed_msg.flex1 = _flex1;
+        composed_msg.flex2 = _flex2;
+        composed_msg.current = _current;
+        composed_msg.voltage = _voltage;
+        
+        composed_publisher->publish(composed_msg); 
+
+    }
+}
+
+void Composed::depth_topic_callback(const packet_interfaces::msg::Depth& msg)
+{
+    RCLCPP_DEBUG(this->get_logger(), "Received Depth message");
+    auto composed_msg = packet_interfaces::msg::Composed();
+    _depth = msg;
+    _depth_received = true;
+}
+
+void Composed::imu_topic_callback(const sensor_msgs::msg::Imu& msg)
+{
+    RCLCPP_DEBUG(this->get_logger(), "Received IMU message");
+    _imu = msg;
+    _imu_received = true;
+}
+
+void Composed::flex1_topic_callback(const packet_interfaces::msg::Flex1& msg)
+{
+    RCLCPP_DEBUG(this->get_logger(), "Received Flex1 message");
+    _flex1 = msg;
+    _flex1_received = true; 
+}
+
+void Composed::flex2_topic_callback(const packet_interfaces::msg::Flex2& msg)
+{
+    RCLCPP_DEBUG(this->get_logger(), "Received Flex2 message");
+    _flex2 = msg;
+    _flex2_received = true;
+}
+
+void Composed::current_topic_callback(const packet_interfaces::msg::Current2& msg)
+{
+    RCLCPP_DEBUG(this->get_logger(), "Received Current message");
+    _current = msg;
+    _current_received = true;
+}
+
+void Composed::voltage_topic_callback(const packet_interfaces::msg::Voltage& msg)
+{
+    RCLCPP_DEBUG(this->get_logger(), "Received Flex2 message");
+    _voltage = msg;
+    _voltage_received = true;
+}
diff --git a/packet/packet_composed/src/composed_main.cpp b/packet/packet_composed/src/composed_main.cpp
new file mode 100644
index 0000000..e8c76fe
--- /dev/null
+++ b/packet/packet_composed/src/composed_main.cpp
@@ -0,0 +1,11 @@
+#include <memory>
+#include <rclcpp/rclcpp.hpp>
+#include "packet_composed/sensorspacket.hpp"  
+
+int main(int argc, char * argv[]) {
+    rclcpp::init(argc, argv);
+    auto node = std::make_shared<Composed>();
+    rclcpp::spin(node);
+    rclcpp::shutdown();
+    return 0;
+}