diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0144046f62f6fb0eaa1687e9aa08fba5419bd431..917fcb76d089b45cdeaf66d8c52347e326c11d35 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -135,6 +135,7 @@ TSTAbortTree.srv
 TSTEnoughTree.srv
 TSTPauseTree.srv
 TSTContinueTree.srv
+TSTExpandNodeFromJson.srv
 )
 
 ## Generate actions in the 'action' folder
diff --git a/srv/TSTExpandNodeFromJson.srv b/srv/TSTExpandNodeFromJson.srv
new file mode 100644
index 0000000000000000000000000000000000000000..8db40a347098c0be2cc5ac1c32729cad7388d5d2
--- /dev/null
+++ b/srv/TSTExpandNodeFromJson.srv
@@ -0,0 +1,6 @@
+string node
+---
+string epanded_node
+bool success
+int32 error
+string reason