diff --git a/people_recognition_msgs/CMakeLists.txt b/people_recognition_msgs/CMakeLists.txt
index e30983c..1e7e0ac 100644
--- a/people_recognition_msgs/CMakeLists.txt
+++ b/people_recognition_msgs/CMakeLists.txt
@@ -11,16 +11,15 @@ find_package(catkin REQUIRED COMPONENTS
 # Generate messages in the 'msg' folder
 add_message_files(
   FILES
-  Person2D.msg
-  Person3D.msg
-  People3D.msg
+  Person.msg
+  People.msg
+  RGBD.msg
 )
 
 # Generate services in the 'srv' folder
 add_service_files(
   FILES
-  RecognizePeople2D.srv
-  RecognizePeople3D.srv
+  RecognizePeople.srv
 )
 
 # Generate added messages and services with any dependencies listed here
diff --git a/people_recognition_msgs/msg/People.msg b/people_recognition_msgs/msg/People.msg
new file mode 100644
index 0000000..cb3f741
--- /dev/null
+++ b/people_recognition_msgs/msg/People.msg
@@ -0,0 +1 @@
+Person[] people
diff --git a/people_recognition_msgs/msg/People3D.msg b/people_recognition_msgs/msg/People3D.msg
deleted file mode 100644
index 620561a..0000000
--- a/people_recognition_msgs/msg/People3D.msg
+++ /dev/null
@@ -1 +0,0 @@
-Person3D[] people
diff --git a/people_recognition_msgs/msg/Person3D.msg b/people_recognition_msgs/msg/Person.msg
similarity index 100%
rename from people_recognition_msgs/msg/Person3D.msg
rename to people_recognition_msgs/msg/Person.msg
diff --git a/people_recognition_msgs/msg/Person2D.msg b/people_recognition_msgs/msg/Person2D.msg
deleted file mode 100644
index 14d42ed..0000000
--- a/people_recognition_msgs/msg/Person2D.msg
+++ /dev/null
@@ -1,8 +0,0 @@
-string name
-uint8 age
-uint8 gender
-float64 gender_confidence
-string posture
-string emotion
-string[] shirt_colors
-image_recognition_msgs/Recognition[] body_parts
diff --git a/people_recognition_msgs/msg/RGBD.msg b/people_recognition_msgs/msg/RGBD.msg
new file mode 100644
index 0000000..b3326ae
--- /dev/null
+++ b/people_recognition_msgs/msg/RGBD.msg
@@ -0,0 +1,3 @@
+sensor_msgs/Image image_rgb
+sensor_msgs/Image image_depth
+sensor_msgs/CameraInfo camera_info_depth
diff --git a/people_recognition_msgs/srv/RecognizePeople.srv b/people_recognition_msgs/srv/RecognizePeople.srv
new file mode 100644
index 0000000..ee5b3a9
--- /dev/null
+++ b/people_recognition_msgs/srv/RecognizePeople.srv
@@ -0,0 +1,8 @@
+# Interface that can request a people message from an input RGB-D image and
+# camera_info
+
+# RGB-D camera message
+RGBD rgbd
+---
+# People message
+People people
diff --git a/people_recognition_msgs/srv/RecognizePeople2D.srv b/people_recognition_msgs/srv/RecognizePeople2D.srv
deleted file mode 100644
index faeb96a..0000000
--- a/people_recognition_msgs/srv/RecognizePeople2D.srv
+++ /dev/null
@@ -1,5 +0,0 @@
-# Interface that can request an array Person2D from an RGB image
-
-sensor_msgs/Image image
----
-Person2D[] people
diff --git a/people_recognition_msgs/srv/RecognizePeople3D.srv b/people_recognition_msgs/srv/RecognizePeople3D.srv
deleted file mode 100644
index 6390dda..0000000
--- a/people_recognition_msgs/srv/RecognizePeople3D.srv
+++ /dev/null
@@ -1,10 +0,0 @@
-# Interface that can request an array of Person3D from an input RGB-D image and
-# camera_info
-
-# RGB camera
-sensor_msgs/Image image_rgb
-# Depth camera
-sensor_msgs/Image image_depth
-sensor_msgs/CameraInfo camera_info_depth
----
-Person3D[] people