diff --git a/mg_bt/src/mg_tree_executor.cpp b/mg_bt/src/mg_tree_executor.cpp
index 95edb52..24d41d5 100644
--- a/mg_bt/src/mg_tree_executor.cpp
+++ b/mg_bt/src/mg_tree_executor.cpp
@@ -2,6 +2,7 @@
 
 #include "behaviortree_cpp/xml_parsing.h"
 #include "tree_nodes/calib.hpp"
+#include "tree_nodes/i2c.hpp"
 #include "tree_nodes/move_point.hpp"
 #include "tree_nodes/rotate.hpp"
 #include "tree_nodes/zero.hpp"
@@ -26,6 +27,7 @@ namespace mg {
         factory.registerNodeType<mg::MovePointNode>("MovePoint", node());
         factory.registerNodeType<mg::RotateNode>("RotateNode", node());
         factory.registerNodeType<mg::ZeroNode>("ZeroNode", node());
+        factory.registerNodeType<mg::I2cNode>("I2CSignal", node());
         factory.registerNodeType<mg::CalibWidthNode>("CalibWidth", node(), [this]() { return this->position(); });
     }
 
diff --git a/mg_bt/src/tree_nodes/i2c.hpp b/mg_bt/src/tree_nodes/i2c.hpp
new file mode 100644
index 0000000..05f4f13
--- /dev/null
+++ b/mg_bt/src/tree_nodes/i2c.hpp
@@ -0,0 +1,29 @@
+#pragma once
+
+#include "behaviortree_ros2/bt_service_node.hpp"
+#include "mg_msgs/srv/i2c.hpp"
+
+namespace mg {
+    class I2cNode : public BT::RosServiceNode<mg_msgs::srv::I2c> {
+      public:
+        I2cNode(const std::string& name, const BT::NodeConfig& conf, const BT::RosNodeParams& params) :
+          BT::RosServiceNode<mg_msgs::srv::I2c>(name, conf, params) { }
+
+        static BT::PortsList providedPorts() {
+            return providedBasicPorts({ BT::InputPort<int>("Address", 42, {}),
+                                        BT::InputPort<int>("Data", 0, {}),
+                                        BT::OutputPort<int>("Result") });
+        }
+
+        bool setRequest(typename Request::SharedPtr& req) override {
+            req->addr = getInput<int>("Address").value_or(42);
+            req->data = getInput<int>("Result").value_or(0);
+            return true;
+        }
+
+        BT::NodeStatus onResponseReceived(const typename Response::SharedPtr& resp) override {
+            setOutput<int>("Result", resp->resp.front());
+            return BT::NodeStatus::SUCCESS;
+        }
+    };
+}
\ No newline at end of file