diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6fad58e04333ad2a875845e9096dd483a1f6dec7..ddde2fb6876f4b1a7a775f6ce4d8e57c3d3d526e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,6 +5,7 @@ project(lrs_srvs_exec)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
+  message_generation
   roscpp
   rospy
 )
@@ -50,11 +51,16 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
+add_service_files(
+  DIRECTORY srv
+  FILES
+  TSTAbortExecutor.srv
+  TSTCreateExecutor.srv
+  TSTExecutorExpand.srv
+  TSTExecutorIsDelegationExpandable.srv
+  TSTExecutorGetConstraints.srv
+  TSTStartExecutor.srv
+)
 
 ## Generate actions in the 'action' folder
 # add_action_files(
@@ -64,10 +70,10 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate added messages and services with any dependencies listed here
-# generate_messages(
+generate_messages(
 #   DEPENDENCIES
 #   std_msgs  # Or other packages containing msgs
-# )
+)
 
 ###################################
 ## catkin specific configuration ##
@@ -81,7 +87,7 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES lrs_srvs_exec
-#  CATKIN_DEPENDS roscpp rospy
+  CATKIN_DEPENDS roscpp rospy message_runtime
 #  DEPENDS system_lib
 )
 
diff --git a/package.xml b/package.xml
index 1d68d108c4b746935a59e8c9cb21f94f7d47e0d4..aac4735f82cfb1e37d46af692d8f59221e5cd699 100644
--- a/package.xml
+++ b/package.xml
@@ -42,8 +42,10 @@
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
+  <build_depend>message_generation</build_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>rospy</run_depend>
+  <run_depend>message_runtime</run_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
@@ -54,4 +56,4 @@
     <!-- Other tools can request additional information be placed here -->
 
   </export>
-</package>
\ No newline at end of file
+</package>