diff --git a/geometry_msgs/CMakeLists.txt b/geometry_msgs/CMakeLists.txt
index df9a8d6d..5b6f31c2 100644
--- a/geometry_msgs/CMakeLists.txt
+++ b/geometry_msgs/CMakeLists.txt
@@ -26,6 +26,8 @@ set(msg_files
   "msg/Point32.msg"
   "msg/PointStamped.msg"
   "msg/Polygon.msg"
+  "msg/PolygonInstance.msg"
+  "msg/PolygonInstanceStamped.msg"
   "msg/PolygonStamped.msg"
   "msg/Pose.msg"
   "msg/Pose2D.msg"
diff --git a/geometry_msgs/README.md b/geometry_msgs/README.md
index 34a95139..2cad7e12 100644
--- a/geometry_msgs/README.md
+++ b/geometry_msgs/README.md
@@ -15,6 +15,8 @@ For more information about ROS 2 interfaces, see [docs.ros.org](https://docs.ros
 * [Point](msg/Point.msg): The position of a 3-dimensional point in free space.
 * [PointStamped](msg/PointStamped.msg): Point with reference coordinate frame and timestamp.
 * [Polygon](msg/Polygon.msg): A specification of a polygon where the first and last points are assumed to be connected.
+* [PolygonInstance](msg/PolygonInstance.msg): A specification of a polygon where the first and last points are assumed to be connected. Contains an identification field for disambiguation of multiple instances.
+* [PolygonInstanceStamped](msg/PolygonInstanceStamped.msg): A Polygon with reference coordinate frame and timestamp. Contains an identification field for disambiguation of multiple instances.
 * [PolygonStamped](msg/PolygonStamped.msg): A Polygon with reference coordinate frame and timestamp.
 * [Pose2D](msg/Pose2D.msg): **Deprecated as of Foxy and will potentially be removed in any following release.**
 * [PoseArray](msg/PoseArray.msg): An array of poses with a header for global reference.
diff --git a/geometry_msgs/msg/PolygonInstance.msg b/geometry_msgs/msg/PolygonInstance.msg
new file mode 100644
index 00000000..61d6af5b
--- /dev/null
+++ b/geometry_msgs/msg/PolygonInstance.msg
@@ -0,0 +1,5 @@
+# A specification of a polygon where the first and last points are assumed to be connected
+# It includes a unique identification field for disambiguating multiple instances
+
+geometry_msgs/Polygon polygon
+int64 id
diff --git a/geometry_msgs/msg/PolygonInstanceStamped.msg b/geometry_msgs/msg/PolygonInstanceStamped.msg
new file mode 100644
index 00000000..cefda8de
--- /dev/null
+++ b/geometry_msgs/msg/PolygonInstanceStamped.msg
@@ -0,0 +1,5 @@
+# This represents a Polygon with reference coordinate frame and timestamp
+# It includes a unique identification field for disambiguating multiple instances
+
+std_msgs/Header header
+geometry_msgs/PolygonInstance polygon