diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1a22ec5..908d4ae 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -15,8 +15,15 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/ContinuousGait.srv"
   "srv/Euler.srv"
   "srv/FootRaiseHeight.srv"
+  "srv/GetBodyHeight.srv"
+  "srv/GetFootRaiseHeight.srv"
+  "srv/GetSpeedLevel.srv"
+  "srv/GetState.srv"
+  "srv/GetVolume.srv"
   "srv/Mode.srv"
   "srv/Pose.srv"
+  "srv/Say.srv"
+  "srv/SetVolume.srv"
   "srv/SpeedLevel.srv"
   "srv/SwitchGait.srv"
   "srv/SwitchJoystick.srv"
diff --git a/srv/GetBodyHeight.srv b/srv/GetBodyHeight.srv
new file mode 100644
index 0000000..6d1f932
--- /dev/null
+++ b/srv/GetBodyHeight.srv
@@ -0,0 +1,6 @@
+# Get the relative height of the body above the ground when standing and walking.
+
+---
+bool success
+string message
+float32 height
\ No newline at end of file
diff --git a/srv/GetFootRaiseHeight.srv b/srv/GetFootRaiseHeight.srv
new file mode 100644
index 0000000..02bb04d
--- /dev/null
+++ b/srv/GetFootRaiseHeight.srv
@@ -0,0 +1,6 @@
+# Get the relative height of foot lift during movement
+
+---
+bool success
+string message
+float32 height
\ No newline at end of file
diff --git a/srv/GetSpeedLevel.srv b/srv/GetSpeedLevel.srv
new file mode 100644
index 0000000..0297130
--- /dev/null
+++ b/srv/GetSpeedLevel.srv
@@ -0,0 +1,6 @@
+# Get the speed level
+
+---
+bool success
+string message
+int32 level
\ No newline at end of file
diff --git a/srv/GetState.srv b/srv/GetState.srv
new file mode 100644
index 0000000..f2f8d73
--- /dev/null
+++ b/srv/GetState.srv
@@ -0,0 +1,5 @@
+# Get State
+
+---
+bool success
+string message
diff --git a/srv/GetVolume.srv b/srv/GetVolume.srv
new file mode 100644
index 0000000..2c27be9
--- /dev/null
+++ b/srv/GetVolume.srv
@@ -0,0 +1,6 @@
+# Get the volume of the robot speaker [0 - 10]
+
+---
+bool success
+string message
+int32 volume
\ No newline at end of file
diff --git a/srv/Say.srv b/srv/Say.srv
new file mode 100644
index 0000000..122a292
--- /dev/null
+++ b/srv/Say.srv
@@ -0,0 +1,6 @@
+# It says through the speakers what you write in the text field
+string text
+
+---
+bool success
+string message
\ No newline at end of file
diff --git a/srv/SetVolume.srv b/srv/SetVolume.srv
new file mode 100644
index 0000000..20fbaf3
--- /dev/null
+++ b/srv/SetVolume.srv
@@ -0,0 +1,6 @@
+# Set the volume of the robot speaker [0 - 10]
+int32 volume
+
+---
+bool success
+string message
\ No newline at end of file