diff --git a/CMakeLists.txt b/CMakeLists.txt
index f785d48..a25ee56 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -21,12 +21,14 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/GetSpeedLevel.srv"
   "srv/GetState.srv"
   "srv/GetSwitch.srv"
+  "srv/GetSwitchObstaclesAvoidance.srv"
   "srv/GetVolume.srv"
   "srv/Mode.srv"
   "srv/Pose.srv"
   "srv/Say.srv"
   "srv/SetBrightness.srv"
   "srv/SetSwitch.srv"
+  "srv/SetSwitchObstaclesAvoidance.srv"
   "srv/SetVolume.srv"
   "srv/SpeedLevel.srv"
   "srv/SwitchGait.srv"
diff --git a/srv/GetSwitchObstaclesAvoidance.srv b/srv/GetSwitchObstaclesAvoidance.srv
new file mode 100644
index 0000000..fb6d633
--- /dev/null
+++ b/srv/GetSwitchObstaclesAvoidance.srv
@@ -0,0 +1,6 @@
+# Get switch obstacle avoidance
+
+---
+bool success
+string message
+int32 enable
diff --git a/srv/Mode.srv b/srv/Mode.srv
index 9e540fd..eef6d17 100644
--- a/srv/Mode.srv
+++ b/srv/Mode.srv
@@ -1,3 +1,55 @@
+# The robot do something according to the mode
+# The robot can:
+# - Damp
+# - BalanceStand
+# - StopMove
+# - StandUp
+# - StandDown
+# - RecoveryStand
+# - Euler
+# - Move
+# - Sit
+# - RiseSit
+# - SwitchGait
+# - Trigger
+# - BodyHeight
+# - FootRaiseHeight
+# - SpeedLevel
+# - Hello
+# - Stretch
+# - TrajectoryFollow
+# - ContinuousGait
+# - Content
+# - Wallow
+# - Dance1
+# - Dance2
+# - GetBodyHeight
+# - GetFootRaiseHeight
+# - GetSpeedLevel
+# - SwitchJoystick
+# - Pose
+# - Scrape
+# - FrontFlip
+# - FrontJump
+# - FrontPounce
+# - WiggleHips
+# - GetState
+# - EconomicGait
+# - FingerHeart
+# - Dance3
+# - Dance4
+# - HopSpinLeft
+# - HopSpinRight
+# - LeftFlip
+# - BackFlip
+# - FreeWalk
+# - FreeBound
+# - FreeJump
+# - FreeAvoid
+# - WalkStair
+# - WalkUpRight
+# - CrossStep
+
 string mode
 
 ---
diff --git a/srv/SetSwitch.srv b/srv/SetSwitch.srv
index 75b7b74..fc0e07b 100644
--- a/srv/SetSwitch.srv
+++ b/srv/SetSwitch.srv
@@ -1,4 +1,4 @@
-# Get switch.
+# Set switch.
 
 int32 enable
 
diff --git a/srv/SetSwitchObstaclesAvoidance.srv b/srv/SetSwitchObstaclesAvoidance.srv
new file mode 100644
index 0000000..45608fe
--- /dev/null
+++ b/srv/SetSwitchObstaclesAvoidance.srv
@@ -0,0 +1,7 @@
+# Set switch obstacle avoidance
+
+int32 enable
+
+---
+bool success
+string message