diff --git a/rbs_utils/rbs_utils_interfaces/CMakeLists.txt b/rbs_utils/rbs_utils_interfaces/CMakeLists.txt
index f11f6a3..8f4e748 100644
--- a/rbs_utils/rbs_utils_interfaces/CMakeLists.txt
+++ b/rbs_utils/rbs_utils_interfaces/CMakeLists.txt
@@ -15,6 +15,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
     "msg/AssemblyConfig.msg"
     "msg/NamedPose.msg"
     "msg/RelativeNamedPose.msg"
+    "msg/RecorderCommands.msg"
     "srv/GetGraspPose.srv"
     "srv/GetPlacePose.srv"
     "srv/GetRelativeNamedPose.srv"
@@ -22,6 +23,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
     "srv/GetNamedPose.srv"
     "srv/AddTasks.srv"
     "srv/TaskFromQueue.srv"
+    "srv/Recorder.srv"
     DEPENDENCIES std_msgs geometry_msgs
 )
 
diff --git a/rbs_utils/rbs_utils_interfaces/msg/RecorderCommands.msg b/rbs_utils/rbs_utils_interfaces/msg/RecorderCommands.msg
new file mode 100644
index 0000000..1a52562
--- /dev/null
+++ b/rbs_utils/rbs_utils_interfaces/msg/RecorderCommands.msg
@@ -0,0 +1,6 @@
+string RUN = "run"
+string SAVE_AND_NEXT = "save_and_next"
+string CANCEL_AND_NEXT = "cancel_and_next"
+string STOP_AND_SAVE = "stop_and_save"
+string STOP_AND_CANCEL = "stop_and_cancel"
+string command
diff --git a/rbs_utils/rbs_utils_interfaces/srv/Recorder.srv b/rbs_utils/rbs_utils_interfaces/srv/Recorder.srv
new file mode 100644
index 0000000..c1563e5
--- /dev/null
+++ b/rbs_utils/rbs_utils_interfaces/srv/Recorder.srv
@@ -0,0 +1,3 @@
+rbs_utils_interfaces/RecorderCommands command
+---
+bool ok