diff --git a/CMakeLists.txt b/CMakeLists.txt
index e5195cda0a73c01dcd28e9748ab6e15e28262ca5..db0a9b5465db8699bd94cda79354a66c5b80b710 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -128,6 +128,7 @@ set(msg_files
   "msg/WarapsObjectDetection.msg"
   "msg/WarapsSalientPoint.msg"
   "msg/WarapsSalientPointArray.msg"
+  "srv/SendRequest.srv"
   "srv/GetResponse.srv"
   "srv/SendTopicMsgToUnit.srv"
   "srv/PlanPath.srv"
@@ -139,6 +140,7 @@ set(msg_files
   "srv/LookAtPoint.srv"
   "srv/LookAtStop.srv"
   "srv/AnchorGraph.srv"
+  "srv/CreateProblemPlan.srv"
   # added from lrs_inference
   "msg/SalientPoint.msg"
   "msg/SalientPointArray.msg"
diff --git a/srv/AnchorGraph.srv b/srv/AnchorGraph.srv
index 536d1c2b1fa07195981cf27dc82b10b10b6ab36a..210ed13601bae97f546fa52dd5cfc09f177f2f3b 100644
--- a/srv/AnchorGraph.srv
+++ b/srv/AnchorGraph.srv
@@ -1,4 +1,5 @@
 string graph_path
+bool upload_and_init
 ---
 bool success
 string message
diff --git a/srv/CreateProblemPlan.srv b/srv/CreateProblemPlan.srv
new file mode 100644
index 0000000000000000000000000000000000000000..4aca54898371146e8605380cd03616f677c1e400
--- /dev/null
+++ b/srv/CreateProblemPlan.srv
@@ -0,0 +1,5 @@
+string file_name
+bool exec_flag
+---
+bool success
+string message
\ No newline at end of file
diff --git a/srv/SendRequest.srv b/srv/SendRequest.srv
new file mode 100644
index 0000000000000000000000000000000000000000..86e8d0e4d78a1941f3bf48426513edd839ef3803
--- /dev/null
+++ b/srv/SendRequest.srv
@@ -0,0 +1,4 @@
+string request
+---
+bool success
+string message