diff --git a/documentation/Definitions.docx b/documentation/Definitions.docx
index e9633d8..75a6d78 100644
Binary files a/documentation/Definitions.docx and b/documentation/Definitions.docx differ
diff --git a/software/defines.py b/software/defines.py
index 5c82d7e..face226 100644
--- a/software/defines.py
+++ b/software/defines.py
@@ -32,3 +32,88 @@ Topics = {
     "BACKEND_DATA_PICTURE": "BACKEND/DATA/PICTURE"
 
 }
+
+
+# MQTT Messages:
+
+# region Robot -> Backend
+SENSORDATA = {
+    "AirTemperature": 0.0,
+    "AirHumidity" : 0.0,
+    "SoilMoisture" : 0.0,
+    "Brightness" : 0,
+    "PlantID": 0,
+    "ActionID": 0
+}
+
+# TODO When sensor is available
+POSITION = {
+    "Position": ""
+}
+
+BATTERY = {
+    "Battery": 0.0
+}
+
+# endregion
+
+# region Backend -> Robot
+
+DRIVE = {
+    "PlantID": 0,
+    "ActionID": 0
+}
+
+# GETPOSITION -> no message needed
+
+# GETBATTERY -> no message needed
+
+# endregion
+
+# region Backend -> Frontend
+
+PLANTDATA = {
+    "AirTemperature": 0.0,
+    "AirHumidity" : 0.0,
+    "SoilMoisture" : 0.0,
+    "Brightness" : 0,
+    "PlantID": 0,
+    "Timestamp": "",
+    "MeasurementID": 0
+}
+
+ALLPLANTDATA = [
+    PLANTDATA,
+    PLANTDATA,
+    PLANTDATA,
+    PLANTDATA,
+    PLANTDATA,
+    PLANTDATA
+]
+
+# TODO When sensor is available
+POSITION = {
+    "Position": "",
+    "Timestamp": ""
+}
+
+BATTERY = {
+    "Battery": 0.0,
+    "Timestamp": ""
+}
+
+# endregion
+
+# region Frontend -> Backend
+
+DRIVE = {
+    "PlantID": 0
+}
+
+# GETPOSITION -> no message needed
+
+# GETBATTERY -> no message needed
+
+# GETALLDATA -> no message needed
+
+# endregion
\ No newline at end of file
diff --git a/software/roboter/raspy/mainProg.py b/software/roboter/raspy/mainProg.py
index 29cc48a..d8ed488 100644
--- a/software/roboter/raspy/mainProg.py
+++ b/software/roboter/raspy/mainProg.py
@@ -5,11 +5,12 @@ import os
 import signal
 import time
 from raspy_sensors import RaspySensors
+from software.defines import Topics
 
 #region global Varaibles 
 #sensors:RaspySensors()
 leftRight = 50
-plantNumber = 0
+plantID = 0
 
 sensorData = {
     "Air Temperature [°C]" : 0,
@@ -40,7 +41,7 @@ def measure_send_data(plantID, actionID):
     sensorData = sensors.readSensors()
     sensorData["Plant_ID"] = plantID
     sensorData["Action_ID"] = actionID
-    client.publish("ROBOT/DATA/SENSORDATA", json.dumps(sensorData, indent=4))
+    client.publish(Topics["ROBOT_DATA_SENSORDATA"], json.dumps(sensorData, indent=4))
 
 
 def drive_home():
@@ -54,9 +55,10 @@ def drive_home():
 
 def drive_plant_thread():
     '''Function to drive to plant according to number from MQTT message in thread'''
-    os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/plant_{plantNumber}.py')
+    os.system(f'sshpass -p maker ssh robot@ev3dev.local python3 /home/robot/Programme/plant_{plantID}.py')
     print("Raising Signal to meassure")
     signal.raise_signal(signal.SIGUSR1)
+    #TODO alles hier ohne weitere Threads
 
 
 def init_mqtt():
@@ -67,17 +69,17 @@ def init_mqtt():
 
     #Add callbacks
     client.message_callback_add("ROBOT/DATA", send_data_json)       #Testing
-    client.message_callback_add("ROBOT/ACTION/DRIVE", drive_plant)
-    client.message_callback_add("ROBOT/ACTION/GETPOSITION", get_position)
-    client.message_callback_add("ROBOT/ACTION/GETBATTERY", get_BatteryStatus)
+    client.message_callback_add(Topics["ROBOT_ACTION_DRIVE"], drive_plant)
+    client.message_callback_add(Topics["ROBOT_ACTION_GETPOSITION"], get_position)
+    client.message_callback_add(Topics["ROBOT_ACTION_GETBATTERY"], get_BatteryStatus)
 
     client.connect(mqttBroker)      #Has to be before subscribing
 
     #Subscribe to topics
     client.subscribe("ROBOT/DATA")      #Testing
-    client.subscribe("ROBOT/ACTION/DRIVE")
-    client.subscribe("ROBOT/Action/GETPOSITION")
-    client.subscribe("ROBOT/ACTION/GETBATTERY")
+    client.subscribe(Topics["ROBOT_ACTION_DRIVE"])
+    client.subscribe(Topics["ROBOT_ACTION_GETPOSITION"])
+    client.subscribe(Topics["ROBOT_ACTION_GETBATTERY"])
 
     
 
@@ -94,22 +96,22 @@ def signal_measure(signum, frame):
 #region MQTT callbacks
 
 #Testing
-def send_data_json(client, userdata, message):
+def send_data_json(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     strIn = str(message.payload.decode("UTF-8"))
     dataDict = json.loads(strIn)
     print("Received data: ", json.dumps(dataDict))
 
 
-def drive_plant(clients, userdata, message):
+def drive_plant(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     '''Function to drive to plant according to request
     Starting Drive in Thread'''
-    global plantNumber, leftRight
+    global plantID, leftRight
     #TODO define MQTT message
-    plantNumber = int(message.payload.decode("UTF-8"))
+    plantID = int(message.payload.decode("UTF-8"))
 
-    print(f"received drive to plant {plantNumber}")
+    print(f"received drive to plant {plantID}")
     
-    if plantNumber % 2 == 0:
+    if plantID % 2 == 0:
         leftRight = -50         #rotating left
     else:
         leftRight = 50          #rotating right
@@ -118,23 +120,26 @@ def drive_plant(clients, userdata, message):
     thread.start()
 
 
-def get_position(clients, userdata, message):
+def get_position(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
     '''Callback function for GPS position request
     Function to send actual GPS position via MQTT'''
 
-    #[ ]TODO handle MQTT message
-    gpsPosition["Position"] = sensors.readPosition()
-    gpsPosition["Action_ID"] = message 
+    #[ ]TODO Write Sensor Function
     client.publish("ROBOT/DATA/POSITION", json.dumps(gpsPosition, indent=4))
 
 
-def get_BatteryStatus(clients, userdata, message):
-    '''Callback function for battery status request
-    Function to read battery status from ev3 and send via MQTT'''
+def get_BatteryStatus(clients: mqtt.Client, userdata, message: mqtt.MQTTMessage):
+    """
+    Callback function for battery status request
+    Function to read battery status from ev3 and send via MQTT
 
-    #[ ]TODO handle MQTT message
-    batteryStatus["Battery"] = sensors.readBattery()
-    batteryStatus["Action_ID"] = message
+    Args:
+        clients (mqtt.Client): _description_
+        userdata (_type_): _description_
+        message (mqtt.MQTTMessage): _description_
+    """
+
+    #[ ]TODO read Battery
     client.publish("ROBOT/DATA/BATTERY", json.dumps(batteryStatus, indent=4))
 
     
@@ -143,9 +148,12 @@ def get_BatteryStatus(clients, userdata, message):
 
 
 def main():
-    '''Initialises MQTT and Sensors
-    Runs forever and controlls all robot functions'''
+    """
+    Initialises MQTT and Sensors
+    Runs forever and controlls all robot functions
+    """
 
+    #TODO on_connect
     init_mqtt()
     print("MQTT initialized")
     signal.signal(signal.SIGUSR1, signal_measure)