diff --git a/CMakeLists.txt b/CMakeLists.txt
index d753b4c8b6cdfad52656066da698bdabca53f703..707b670901b9f50dbeef9fcc5b8c11673b1112cf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -56,11 +56,8 @@ add_service_files(
   SMVisPolygon.srv
   SMVisPattern.srv
   SMVisGeopoint.srv
-  TSTAbortExecutor.srv
-  TSTContinueExecutor.srv
   TSTCreateExecutor.srv
   TSTDestroyExecutor.srv
-  TSTEnoughExecutor.srv
   TSTExecutorCheck.srv
   TSTExecutorCheckFromTni.srv
   TSTExecutorContinue.srv
@@ -69,10 +66,10 @@ add_service_files(
   TSTExecutorGetConstraints.srv
   TSTExecutorGetConstraintsFromTni.srv
   TSTExecutorRequestPause.srv
-  TSTPauseExecutor.srv
   TSTRegisterExecutingTree.srv
   TSTDeregisterExecutingTree.srv
   TSTStartExecutor.srv
+  TSTSignalExecutor.srv  
 )
 
 ## Generate actions in the 'action' folder
diff --git a/srv/TSTAbortExecutor.srv b/srv/TSTAbortExecutor.srv
deleted file mode 100644
index a21b5b03a25861755f583ee233f5ca8b3b761018..0000000000000000000000000000000000000000
--- a/srv/TSTAbortExecutor.srv
+++ /dev/null
@@ -1,10 +0,0 @@
-#
-# Abort the executor
-#
-
-string ns       # Namespace for the tstfactory
-int32 id        # id for the TST node in the tstfactory
----
-bool success
-int32 error
-string reason
diff --git a/srv/TSTContinueExecutor.srv b/srv/TSTContinueExecutor.srv
deleted file mode 100644
index 8e6150f75c946164d982da0a9aa7d6885b8c3181..0000000000000000000000000000000000000000
--- a/srv/TSTContinueExecutor.srv
+++ /dev/null
@@ -1,10 +0,0 @@
-#
-# Continue the executor
-#
-
-string ns       # Namespace for the tstfactory
-int32 id        # id for the TST node in the tstfactory
----
-bool success
-int32 error
-string reason
diff --git a/srv/TSTEnoughExecutor.srv b/srv/TSTEnoughExecutor.srv
deleted file mode 100644
index dcaf2edd7622be0f4b6b9e2c275cb55669e95fcb..0000000000000000000000000000000000000000
--- a/srv/TSTEnoughExecutor.srv
+++ /dev/null
@@ -1,10 +0,0 @@
-#
-# Enough the executor
-#
-
-string ns       # Namespace for the tstfactory
-int32 id        # id for the TST node in the tstfactory
----
-bool success
-int32 error
-string reason
diff --git a/srv/TSTPauseExecutor.srv b/srv/TSTPauseExecutor.srv
deleted file mode 100644
index 2599d56f95561341cbe739f1a97228500c97bc04..0000000000000000000000000000000000000000
--- a/srv/TSTPauseExecutor.srv
+++ /dev/null
@@ -1,10 +0,0 @@
-#
-# Pause the executor
-#
-
-string ns       # Namespace for the tstfactory
-int32 id        # id for the TST node in the tstfactory
----
-bool success
-int32 error
-string reason
diff --git a/srv/TSTSignalExecutor.srv b/srv/TSTSignalExecutor.srv
new file mode 100644
index 0000000000000000000000000000000000000000..287aa3527f73c2a457ec29be8e99788e92459e28
--- /dev/null
+++ b/srv/TSTSignalExecutor.srv
@@ -0,0 +1,10 @@
+#
+# Signal the executor
+#
+
+int32 id        # id for the TST node in the tstfactory and in the executor map in the nodelets.
+string signal   # signal to add to the executor
+---
+bool success
+int32 error
+string reason