diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
index f5fa8b67..297c3d50 100644
--- a/control_msgs/CMakeLists.txt
+++ b/control_msgs/CMakeLists.txt
@@ -53,6 +53,7 @@ set(action_files
 set(srv_files
   srv/QueryCalibrationState.srv
   srv/QueryTrajectoryState.srv
+  srv/SetOdometry.srv
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}
diff --git a/control_msgs/srv/SetOdometry.srv b/control_msgs/srv/SetOdometry.srv
new file mode 100644
index 00000000..72fe9844
--- /dev/null
+++ b/control_msgs/srv/SetOdometry.srv
@@ -0,0 +1,9 @@
+float64 x
+float64 y
+float64 z
+float64 roll
+float64 pitch
+float64 yaw
+---
+bool success
+string message