diff --git a/src/custom_interfaces/msg/CANopenFeedback.msg b/src/custom_interfaces/msg/CANopenFeedback.msg
new file mode 100644
index 0000000..7f2c5e7
--- /dev/null
+++ b/src/custom_interfaces/msg/CANopenFeedback.msg
@@ -0,0 +1,7 @@
+std_msgs/Header header
+int64 position
+float64 velocity
+float32[] temperature
+float32[] pressure
+float32[] humidity
+string message
diff --git a/src/custom_interfaces/srv/CANopenCmd.srv b/src/custom_interfaces/srv/CANopenCmd.srv
new file mode 100644
index 0000000..63ca3bc
--- /dev/null
+++ b/src/custom_interfaces/srv/CANopenCmd.srv
@@ -0,0 +1,6 @@
+int64 position
+float64 velocity
+string control
+---
+bool success
+string message
diff --git a/src/custom_interfaces/srv/CheckState.srv b/src/custom_interfaces/srv/CheckState.srv
index c654445..1ff085c 100644
--- a/src/custom_interfaces/srv/CheckState.srv
+++ b/src/custom_interfaces/srv/CheckState.srv
@@ -1,4 +1,4 @@
 string model_name
 ---
 bool success
-string state_return
+string return_state