diff --git a/src/custom_interfaces/CMakeLists.txt b/src/custom_interfaces/CMakeLists.txt
index fc551d6..e50f122 100644
--- a/src/custom_interfaces/CMakeLists.txt
+++ b/src/custom_interfaces/CMakeLists.txt
@@ -37,6 +37,12 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/CustomMsg2.msg"
   "srv/CustomSrv1.srv"
   "srv/StateMachineSrv.srv"
+  "srv/InclineControlSRV.srv"
+  "srv/MosfetControlSRV.srv"
+  "srv/PitchControlSRV.srv"
+  "srv/RotationControlSRV.srv"
+  "srv/SensorSRV.srv"
+  "srv/WatchdogSRV.srv"
   DEPENDENCIES builtin_interfaces
  )
 
diff --git a/src/custom_interfaces/srv/InclineControlSRV.srv b/src/custom_interfaces/srv/InclineControlSRV.srv
new file mode 100644
index 0000000..127c307
--- /dev/null
+++ b/src/custom_interfaces/srv/InclineControlSRV.srv
@@ -0,0 +1,6 @@
+int32 incline
+bool store
+bool elevate
+bool upright
+---
+bool success
diff --git a/src/custom_interfaces/srv/MosfetControlSRV.srv b/src/custom_interfaces/srv/MosfetControlSRV.srv
new file mode 100644
index 0000000..9b616eb
--- /dev/null
+++ b/src/custom_interfaces/srv/MosfetControlSRV.srv
@@ -0,0 +1,3 @@
+bool command
+---
+bool success
diff --git a/src/custom_interfaces/srv/PitchControlSRV.srv b/src/custom_interfaces/srv/PitchControlSRV.srv
new file mode 100644
index 0000000..fb0f841
--- /dev/null
+++ b/src/custom_interfaces/srv/PitchControlSRV.srv
@@ -0,0 +1,11 @@
+int32 degree
+uint32 speed
+bool status
+---
+bool success
+string error
+int32 present_position
+int32 present_load
+int32 present_temp
+uint32 present_v
+int32 up_cali
diff --git a/src/custom_interfaces/srv/RotationControlSRV.srv b/src/custom_interfaces/srv/RotationControlSRV.srv
new file mode 100644
index 0000000..72b1e88
--- /dev/null
+++ b/src/custom_interfaces/srv/RotationControlSRV.srv
@@ -0,0 +1,7 @@
+bool abs
+int32 degree
+int32 local_degree
+string center
+---
+bool success
+int32 present_pos
diff --git a/src/custom_interfaces/srv/SensorSRV.srv b/src/custom_interfaces/srv/SensorSRV.srv
new file mode 100644
index 0000000..ff3ff18
--- /dev/null
+++ b/src/custom_interfaces/srv/SensorSRV.srv
@@ -0,0 +1,3 @@
+bool triggered
+---
+bool success
diff --git a/src/custom_interfaces/srv/WatchdogSRV.srv b/src/custom_interfaces/srv/WatchdogSRV.srv
new file mode 100644
index 0000000..c2acb9c
--- /dev/null
+++ b/src/custom_interfaces/srv/WatchdogSRV.srv
@@ -0,0 +1,3 @@
+string node_name
+---
+string node_name
diff --git a/src/pubsub/pubsub/__pycache__/__init__.cpython-310.pyc b/src/pubsub/pubsub/__pycache__/__init__.cpython-310.pyc
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