diff --git a/src/custom_interfaces/CMakeLists.txt b/src/custom_interfaces/CMakeLists.txt
index 82b04e1..10aab22 100644
--- a/src/custom_interfaces/CMakeLists.txt
+++ b/src/custom_interfaces/CMakeLists.txt
@@ -35,10 +35,12 @@ find_package(rclcpp REQUIRED)
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/CustomMsg1.msg"
   "msg/CustomMsg2.msg"
+  "msg/CANopenFeedback.msg"
   "srv/CustomSrv1.srv"
   "srv/StateMachineSrv.srv"
   "srv/CheckState.srv"
   "srv/ChangeState.srv"
+  "srv/CANopenCmd.srv"
   DEPENDENCIES builtin_interfaces
  )
 
diff --git a/src/custom_interfaces/msg/CANopenFeedback.msg b/src/custom_interfaces/msg/CANopenFeedback.msg
index 7f2c5e7..d3e34e0 100644
--- a/src/custom_interfaces/msg/CANopenFeedback.msg
+++ b/src/custom_interfaces/msg/CANopenFeedback.msg
@@ -1,4 +1,5 @@
-std_msgs/Header header
+#std_msgs/Header header
+builtin_interfaces/Time stamp
 int64 position
 float64 velocity
 float32[] temperature
diff --git a/src/custom_interfaces/package.xml b/src/custom_interfaces/package.xml
index 8c22c2a..c660477 100644
--- a/src/custom_interfaces/package.xml
+++ b/src/custom_interfaces/package.xml
@@ -12,24 +12,17 @@
   <test_depend>ament_lint_common</test_depend>
   
   
-  
+  <depend>std_msgs</depend>
   <!-- ADD THESE LINES: START HERE -->
-  
   <build_depend>builtin_interfaces</build_depend>
   <build_depend>rosidl_default_generators</build_depend>
-  
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
-  
   <member_of_group>rosidl_interface_packages</member_of_group>
   <!-- END HERE -->
 
 
 
-
-
-
-  <depend>std_msgs</depend>
   <!-- DO NOT ENTER THIS DEPENDENCY WHEN CREATING NEW PACKAGE -->
   <!-- <depend>builtin_interfaces</depend> -->