diff --git a/mg_msgs/CMakeLists.txt b/mg_msgs/CMakeLists.txt
index b0c0eb2..ff4e808 100644
--- a/mg_msgs/CMakeLists.txt
+++ b/mg_msgs/CMakeLists.txt
@@ -14,6 +14,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "action/MoveStraight.action"
   "action/MovePoint.action"
   "action/LookAt.action"
+  "srv/SetWidth.srv"
 )
 
 ament_package()
\ No newline at end of file
diff --git a/mg_msgs/srv/SetWidth.srv b/mg_msgs/srv/SetWidth.srv
new file mode 100644
index 0000000..7e44f9a
--- /dev/null
+++ b/mg_msgs/srv/SetWidth.srv
@@ -0,0 +1,2 @@
+float64 width
+---
\ No newline at end of file