diff --git a/orbbec_camera_msgs/CMakeLists.txt b/orbbec_camera_msgs/CMakeLists.txt
index 5212ea6d..c004d1d6 100644
--- a/orbbec_camera_msgs/CMakeLists.txt
+++ b/orbbec_camera_msgs/CMakeLists.txt
@@ -28,6 +28,7 @@ rosidl_generate_interfaces(
     "msg/RGBD.msg"
     "msg/StreamProfile.msg"
     "srv/GetBool.srv"
+    "srv/GetActionConfig.srv"
     "srv/GetDeviceConfig.srv"
     "srv/GetDeviceInfo.srv"
     "srv/GetCameraInfo.srv"
@@ -35,6 +36,7 @@ rosidl_generate_interfaces(
     "srv/GetAwbGain.srv"
     "srv/GetString.srv"
     "srv/SetFilter.srv"
+    "srv/SetActionConfig.srv"
     "srv/SetInt32.srv"
     "srv/SetAwbGain.srv"
     "srv/SetString.srv"
@@ -43,6 +45,7 @@ rosidl_generate_interfaces(
     "srv/SetUserCalibParams.srv"
     "srv/SetBagRecording.srv"
     "srv/SetStreamProfile.srv"
+    "srv/SendActionCommand.srv"
     "action/RunAeAwbLockTest.action"
     DEPENDENCIES
     action_msgs
diff --git a/orbbec_camera_msgs/srv/GetActionConfig.srv b/orbbec_camera_msgs/srv/GetActionConfig.srv
new file mode 100644
index 00000000..d45d0116
--- /dev/null
+++ b/orbbec_camera_msgs/srv/GetActionConfig.srv
@@ -0,0 +1,8 @@
+uint32 selector
+---
+uint32 action_signal_count
+uint32 device_key
+uint32 group_key
+uint32 group_mask
+bool success
+string message
diff --git a/orbbec_camera_msgs/srv/SendActionCommand.srv b/orbbec_camera_msgs/srv/SendActionCommand.srv
new file mode 100644
index 00000000..90c9075e
--- /dev/null
+++ b/orbbec_camera_msgs/srv/SendActionCommand.srv
@@ -0,0 +1,10 @@
+uint32 device_key
+uint32 group_key
+uint32 group_mask
+# IPv4 destination. Leave empty to use the SDK broadcast address (255.255.255.255).
+string destination_ip
+# PTP timestamp. Zero sends the command immediately.
+uint64 scheduled_time
+---
+bool success
+string message
diff --git a/orbbec_camera_msgs/srv/SetActionConfig.srv b/orbbec_camera_msgs/srv/SetActionConfig.srv
new file mode 100644
index 00000000..b8af7a47
--- /dev/null
+++ b/orbbec_camera_msgs/srv/SetActionConfig.srv
@@ -0,0 +1,7 @@
+uint32 device_key
+uint32 selector
+uint32 group_key
+uint32 group_mask
+---
+bool success
+string message