diff --git a/Messages/BinaryMsg.h b/Messages/BinaryMsg.h
index 10adb90..81838c0 100644
--- a/Messages/BinaryMsg.h
+++ b/Messages/BinaryMsg.h
@@ -1,15 +1,17 @@
 #pragma once
 
-#include "Messages.h"
+#include "IMessage.h"
+#include "Thing.h"
 
 namespace RoboidControl {
 
-/// @brief Message to send thing-specific data
+/// @brief A message containing binary data for custom communication
 class BinaryMsg : public IMessage {
  public:
   /// @brief The message ID
   static const unsigned char id = 0xB1;
-  /// @brief The length of the message without the binary data itslef
+  /// @brief The length of the message in bytes, excluding the binary data
+  /// For the total size of the message this.bytes.Length should be added to this value.
   static const unsigned length = 4;
 
   /// @brief The network ID of the thing
@@ -23,7 +25,7 @@ class BinaryMsg : public IMessage {
   /// @brief The binary data which is communicated
   char* data = nullptr;
 
-  /// @brief Create a new message for sending
+  /// @brief Create a BinaryMsg
   /// @param networkId The network ID of the thing
   /// @param thing The thing for which binary data is sent
   BinaryMsg(unsigned char networkId, Thing* thing);
diff --git a/Messages/DestroyMsg.cpp b/Messages/DestroyMsg.cpp
index f41ba3b..948b1fe 100644
--- a/Messages/DestroyMsg.cpp
+++ b/Messages/DestroyMsg.cpp
@@ -15,10 +15,10 @@ DestroyMsg::DestroyMsg(char* buffer) {
 DestroyMsg::~DestroyMsg() {}
 
 unsigned char DestroyMsg::Serialize(char* buffer) {
-//#if defined(DEBUG)
+#if defined(DEBUG)
   std::cout << "Send DestroyMsg [" << (int)this->networkId << "/"
             << (int)this->thingId << "] " << std::endl;
-//#endif
+#endif
   unsigned char ix = 0;
   buffer[ix++] = this->id;
   buffer[ix++] = this->networkId;
diff --git a/Messages/DestroyMsg.h b/Messages/DestroyMsg.h
index 74ad2aa..dde5f81 100644
--- a/Messages/DestroyMsg.h
+++ b/Messages/DestroyMsg.h
@@ -1,13 +1,15 @@
-#include "Messages.h"
+#pragma once
+
+#include "IMessage.h"
 
 namespace RoboidControl {
 
-/// @brief Message notifiying that a Thing no longer exists
+/// @brief A Message notifiying that a Thing no longer exists
 class DestroyMsg : public IMessage {
  public:
   /// @brief The message ID
   static const unsigned char id = 0x20;
-  /// @brief The length of the message
+  /// @brief The length of the message in bytes
   static const unsigned length = 3;
   /// @brief The network ID of the thing
   unsigned char networkId;
diff --git a/Messages/Messages.cpp b/Messages/IMessage.cpp
similarity index 73%
rename from Messages/Messages.cpp
rename to Messages/IMessage.cpp
index d9f1a8c..86ccef7 100644
--- a/Messages/Messages.cpp
+++ b/Messages/IMessage.cpp
@@ -1,7 +1,4 @@
-#include "Messages.h"
-
-#include "LowLevelMessages.h"
-#include "string.h"
+#include "IMessage.h"
 
 namespace RoboidControl {
 
diff --git a/Messages/IMessage.h b/Messages/IMessage.h
new file mode 100644
index 0000000..632287e
--- /dev/null
+++ b/Messages/IMessage.h
@@ -0,0 +1,16 @@
+#pragma once
+
+namespace RoboidControl {
+
+/// @brief Root structure for all communcation messages
+class IMessage {
+ public:
+  IMessage();
+  /// @brief Serialize the message into a byte array for sending
+  /// @param buffer The buffer to serilize into
+  /// @return The length of the message in the buffer
+  virtual unsigned char Serialize(char* buffer);
+
+};
+
+}  // namespace RoboidControl
diff --git a/Messages/InvestigateMsg.cpp b/Messages/InvestigateMsg.cpp
index 6420e42..7b94c8d 100644
--- a/Messages/InvestigateMsg.cpp
+++ b/Messages/InvestigateMsg.cpp
@@ -7,9 +7,9 @@ InvestigateMsg::InvestigateMsg(char* buffer) {
   this->networkId = buffer[ix++];
   this->thingId = buffer[ix++];
 }
-InvestigateMsg::InvestigateMsg(unsigned char networkId, unsigned char thingId) {
+InvestigateMsg::InvestigateMsg(unsigned char networkId, Thing* thing) {
   this->networkId = networkId;
-  this->thingId = thingId;
+  this->thingId = thing->id;
 }
 
 InvestigateMsg::~InvestigateMsg() {}
diff --git a/Messages/InvestigateMsg.h b/Messages/InvestigateMsg.h
index 3179ec4..cff3c32 100644
--- a/Messages/InvestigateMsg.h
+++ b/Messages/InvestigateMsg.h
@@ -1,4 +1,7 @@
-#include "Messages.h"
+#pragma once
+
+#include "IMessage.h"
+#include "Thing.h"
 
 namespace RoboidControl {
 
@@ -14,10 +17,10 @@ class InvestigateMsg : public IMessage {
   /// @brief the ID of the thing
   unsigned char thingId;
 
-  /// @brief Create a new message for sending
+  /// @brief Create an investigate message
   /// @param networkId The network ID for the thing
-  /// @param thingId The ID of the thing
-  InvestigateMsg(unsigned char networkId, unsigned char thingId);
+  /// @param thing The thing for which the details are requested
+  InvestigateMsg(unsigned char networkId, Thing* thing);
   /// @copydoc RoboidControl::IMessage::IMessage(char*)
   InvestigateMsg(char* buffer);
   /// @brief Destructor for the message
diff --git a/Messages/LowLevelMessages.h b/Messages/LowLevelMessages.h
index bffe010..144e50c 100644
--- a/Messages/LowLevelMessages.h
+++ b/Messages/LowLevelMessages.h
@@ -1,3 +1,5 @@
+#pragma once
+
 #include "LinearAlgebra/Spherical.h"
 #include "LinearAlgebra/SwingTwist.h"
 
@@ -5,18 +7,18 @@ namespace RoboidControl {
 
 class LowLevelMessages {
  public:
-  static void SendAngle8(char* buffer, unsigned char* ix, const float angle);
-  static Angle8 ReceiveAngle8(const char* buffer, unsigned char* startIndex);
-
-  static void SendFloat16(char* buffer, unsigned char* ix, float value);
-  static float ReceiveFloat16(const char* buffer, unsigned char* startIndex);
-
   static void SendSpherical(char* buffer, unsigned char* ix, Spherical s);
   static Spherical ReceiveSpherical(const char* buffer,
                                     unsigned char* startIndex);
 
   static void SendQuat32(char* buffer, unsigned char* ix, SwingTwist q);
   static SwingTwist ReceiveQuat32(const char* buffer, unsigned char* ix);
+
+  static void SendAngle8(char* buffer, unsigned char* ix, const float angle);
+  static Angle8 ReceiveAngle8(const char* buffer, unsigned char* startIndex);
+
+  static void SendFloat16(char* buffer, unsigned char* ix, float value);
+  static float ReceiveFloat16(const char* buffer, unsigned char* startIndex);
 };
 
 }  // namespace RoboidControl
diff --git a/Messages/Messages.h b/Messages/Messages.h
deleted file mode 100644
index df22544..0000000
--- a/Messages/Messages.h
+++ /dev/null
@@ -1,22 +0,0 @@
-#pragma once
-
-#include "LinearAlgebra/Spherical.h"
-#include "LinearAlgebra/SwingTwist.h"
-#include "Thing.h"
-
-namespace RoboidControl {
-
-class ParticipantUDP;
-
-class IMessage {
- public:
-  IMessage();
-  virtual unsigned char Serialize(char* buffer);
-
-  static unsigned char* ReceiveMsg(unsigned char packetSize);
-
-  // bool Publish(ParticipantUDP *participant);
-  // bool SendTo(ParticipantUDP *participant);
-};
-
-}  // namespace RoboidControl
diff --git a/Messages/ModelUrlMsg.h b/Messages/ModelUrlMsg.h
index 7c493eb..9759aa0 100644
--- a/Messages/ModelUrlMsg.h
+++ b/Messages/ModelUrlMsg.h
@@ -1,4 +1,7 @@
-#include "Messages.h"
+#pragma once
+
+#include "IMessage.h"
+#include "Thing.h"
 
 namespace RoboidControl {
 
@@ -26,8 +29,6 @@ class ModelUrlMsg : public IMessage {
   ModelUrlMsg(unsigned char networkId, Thing* thing);
   /// @copydoc RoboidControl::IMessage::IMessage(char*)
   ModelUrlMsg(const char* buffer);
-  //   ModelUrlMsg(unsigned char networkId, unsigned char thingId,
-  //               unsigned char urlLegth, const char *url, float scale = 1);
 
   /// @brief Destructor for the message
   virtual ~ModelUrlMsg();
diff --git a/Messages/NameMsg.h b/Messages/NameMsg.h
index 0d1bebc..c283a59 100644
--- a/Messages/NameMsg.h
+++ b/Messages/NameMsg.h
@@ -1,4 +1,7 @@
-#include "Messages.h"
+#pragma once
+
+#include "IMessage.h"
+#include "Thing.h"
 
 namespace RoboidControl {
 
@@ -22,9 +25,6 @@ class NameMsg : public IMessage {
   /// @param networkId The network ID of the thing
   /// @param thing The ID of the thing
   NameMsg(unsigned char networkId, Thing* thing);
-  //   NameMsg(unsigned char networkId, unsigned char thingId, const char *name,
-  //           unsigned char nameLength);
-
   /// @copydoc RoboidControl::IMessage::IMessage(char*)
   NameMsg(const char* buffer);
   /// @brief Destructor for the message
diff --git a/Messages/NetworkIdMsg.h b/Messages/NetworkIdMsg.h
index 083439b..de78906 100644
--- a/Messages/NetworkIdMsg.h
+++ b/Messages/NetworkIdMsg.h
@@ -1,4 +1,6 @@
-#include "Messages.h"
+#pragma once
+
+#include "IMessage.h"
 
 namespace RoboidControl {
 
diff --git a/Messages/ParticipantMsg.h b/Messages/ParticipantMsg.h
index 28f9eb5..105881d 100644
--- a/Messages/ParticipantMsg.h
+++ b/Messages/ParticipantMsg.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "Messages.h"
+#include "IMessage.h"
 
 namespace RoboidControl {
 
diff --git a/Messages/PoseMsg.h b/Messages/PoseMsg.h
index bc0c336..fe702da 100644
--- a/Messages/PoseMsg.h
+++ b/Messages/PoseMsg.h
@@ -1,4 +1,6 @@
-#include "Messages.h"
+#pragma once
+#include "IMessage.h"
+#include "Thing.h"
 
 namespace RoboidControl {
 
@@ -9,7 +11,7 @@ class PoseMsg : public IMessage {
  public:
   /// @brief The message ID
   static const unsigned char id = 0x10;
-  /// @brief The length of the message
+  /// @brief The length of the message in bytes
   unsigned char length = 4 + 4 + 4;
 
   /// @brief The network ID of the thing
@@ -40,7 +42,8 @@ class PoseMsg : public IMessage {
 
   /// @brief Create a new message for sending
   /// @param networkId he network ID of the thing
-  /// @param thing The thing for which the pose shouldbe sent
+  /// @param thing The thing for which the pose should be sent
+  /// @param force If true, position and orientation are always included, even when they are not updated
   PoseMsg(unsigned char networkId, Thing* thing, bool force = false);
 
   /// @copydoc RoboidControl::IMessage::IMessage(char*)
diff --git a/Messages/TextMsg.h b/Messages/TextMsg.h
index 5b25fca..a5763e6 100644
--- a/Messages/TextMsg.h
+++ b/Messages/TextMsg.h
@@ -1,4 +1,4 @@
-#include "Messages.h"
+#include "IMessage.h"
 
 namespace RoboidControl {
 
@@ -9,10 +9,6 @@ class TextMsg : public IMessage {
   static const unsigned char id = 0xB0;
   /// @brief The length of the message without the text itself
   static const unsigned char length = 2;
-  /// @brief The network ID of the thing
-  unsigned char networkId;
-  /// @brief the ID of the thing
-  unsigned char thingId;
   /// @brief The text without the null terminator
   const char* text;
   /// @brief The length of the text
diff --git a/Messages/ThingMsg.h b/Messages/ThingMsg.h
index c40fb97..a26b60d 100644
--- a/Messages/ThingMsg.h
+++ b/Messages/ThingMsg.h
@@ -1,8 +1,9 @@
-#include "Messages.h"
+#include "IMessage.h"
+#include "Thing.h"
 
 namespace RoboidControl {
 
-/// @brief  Message providing generic information about a Thing
+/// @brief Message providing generic details about a Thing
 class ThingMsg : public IMessage {
  public:
   /// @brief The message ID
@@ -13,17 +14,15 @@ class ThingMsg : public IMessage {
   unsigned char networkId;
   /// @brief The ID of the thing
   unsigned char thingId;
-  /// @brief The Thing.Type of the thing
+  /// @brief The type of thing
   unsigned char thingType;
-  /// @brief The parent of the thing in the hierarachy. This is null for root Things
+  /// @brief The ID of the parent thing in the hierarchy. This is zero for root things
   unsigned char parentId;
 
   /// @brief Create a message for sending
   /// @param networkId The network ID of the thing</param>
   /// @param thing The thing
   ThingMsg(unsigned char networkId, Thing* thing);
-  //   ThingMsg(unsigned char networkId, unsigned char thingId,
-  //            unsigned char thingType, unsigned char parentId);
 
   /// @copydoc RoboidControl::IMessage::IMessage(char*)
   ThingMsg(const char* buffer);