diff --git a/move_base/CMakeLists.txt b/move_base/CMakeLists.txt
index 6be107a148..6a518771f7 100644
--- a/move_base/CMakeLists.txt
+++ b/move_base/CMakeLists.txt
@@ -26,6 +26,21 @@ find_package(catkin REQUIRED
 find_package(Eigen3 REQUIRED)
 add_definitions(${EIGEN3_DEFINITIONS})
 
+###############################################################################
+# MESSAGES, SERVICES AND ACTIONS
+###############################################################################
+
+add_message_files(
+    DIRECTORY msg
+    FILES
+    Path.msg
+)
+
+generate_messages(
+    DEPENDENCIES
+    geometry_msgs
+)
+
 # dynamic reconfigure
 generate_dynamic_reconfigure_options(
     cfg/MoveBase.cfg
@@ -38,6 +53,7 @@ catkin_package(
         move_base_msgs
         nav_msgs
         roscpp
+        message_runtime
 )
 
 include_directories(
diff --git a/move_base/include/move_base/move_base.h b/move_base/include/move_base/move_base.h
index f1bedc2d73..3adf62bb50 100644
--- a/move_base/include/move_base/move_base.h
+++ b/move_base/include/move_base/move_base.h
@@ -169,6 +169,8 @@ namespace move_base {
       double distance(const geometry_msgs::PoseStamped& p1, const geometry_msgs::PoseStamped& p2);
 
       geometry_msgs::PoseStamped goalToGlobalFrame(const geometry_msgs::PoseStamped& goal_pose_msg);
+     
+      void publishPathMsg(const geometry_msgs::PoseStamped& current_position, const geometry_msgs::PoseStamped& goal);
 
       /**
        * @brief This is used to wake the planner at periodic intervals.
@@ -195,7 +197,7 @@ namespace move_base {
       int32_t max_planning_retries_;
       uint32_t planning_retries_;
       double conservative_reset_dist_, clearing_radius_;
-      ros::Publisher current_goal_pub_, vel_pub_, action_goal_pub_, recovery_status_pub_;
+      ros::Publisher current_goal_pub_, vel_pub_, action_goal_pub_, recovery_status_pub_, move_base_simple_pub_;
       ros::Subscriber goal_sub_;
       ros::ServiceServer make_plan_srv_, clear_costmaps_srv_;
       bool shutdown_costmaps_, clearing_rotation_allowed_, recovery_behavior_enabled_;
diff --git a/move_base/msg/Path.msg b/move_base/msg/Path.msg
new file mode 100644
index 0000000000..406efc8528
--- /dev/null
+++ b/move_base/msg/Path.msg
@@ -0,0 +1,4 @@
+geometry_msgs/PoseStamped current_pose # Current position
+geometry_msgs/PoseStamped goal_pose # Goal
+float32 dist_to_goal # Path distance left to goal (m)
+float32 time_to_goal # Time left to goal to navigate along path (s)
diff --git a/move_base/src/move_base.cpp b/move_base/src/move_base.cpp
index fdd5c92e4d..4673d237ca 100644
--- a/move_base/src/move_base.cpp
+++ b/move_base/src/move_base.cpp
@@ -45,6 +45,7 @@
 #include <geometry_msgs/Twist.h>
 
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <move_base/Path.h>
 
 namespace move_base {
 
@@ -96,6 +97,9 @@ namespace move_base {
     vel_pub_ = nh.advertise<geometry_msgs::Twist>("cmd_vel", 1);
     current_goal_pub_ = private_nh.advertise<geometry_msgs::PoseStamped>("current_goal", 0 );
 
+    //to publish path length and time left to goal
+    move_base_simple_pub_ = private_nh.advertise<move_base::Path>("move_base_simple/feedback", 1);
+
     ros::NodeHandle action_nh("move_base");
     action_goal_pub_ = action_nh.advertise<move_base_msgs::MoveBaseActionGoal>("goal", 1);
     recovery_status_pub_= action_nh.advertise<move_base_msgs::RecoveryStatus>("recovery_status", 1);
@@ -815,6 +819,9 @@ namespace move_base {
     feedback.base_position = current_position;
     as_->publishFeedback(feedback);
 
+    //publish path left and time left to the goal
+    publishPathMsg(current_position, goal);
+
     //check to see if we've moved far enough to reset our oscillation timeout
     if(distance(current_position, oscillation_pose_) >= oscillation_distance_)
     {
@@ -1200,4 +1207,19 @@ namespace move_base {
 
     return true;
   }
+
+  // publish in context of action feedback, path left and time left to the goal
+  void MoveBase::publishPathMsg(const geometry_msgs::PoseStamped& current_position, const geometry_msgs::PoseStamped& goal)
+  {
+    move_base::Path msg;
+    msg.current_pose = current_position;
+    msg.goal_pose = goal;
+    msg.dist_to_goal = distance(current_position, goal);
+    geometry_msgs::Twist cmd_vel;
+    tc_->computeVelocityCommands(cmd_vel);
+    msg.time_to_goal = msg.dist_to_goal/(cmd_vel.linear.x ? cmd_vel.linear.x : 1.0);
+    move_base_simple_pub_.publish(msg);
+    
+  }
+
 };