diff --git a/nav2_msgs/README.md b/nav2_msgs/README.md
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0ca22a23401eea2497c542143a0d9bb36d42276b 100644
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+# nav2_msgs
+
+The `nav2_msgs` package is a set of messages, services, and actions for the `navigation2` stack. The `navigation2` stack still makes use of `nav_msgs` from ROS (1) Navigation.
+
+See the ROS 1 to ROS 2 [Migration Guide](https://index.ros.org/doc/ros2/Migration-Guide/#messages-and-services) for details about use of the new message and service types.