diff --git a/rm_msgs/CMakeLists.txt b/rm_msgs/CMakeLists.txt
index 607dff3c..58d731d8 100644
--- a/rm_msgs/CMakeLists.txt
+++ b/rm_msgs/CMakeLists.txt
@@ -33,6 +33,7 @@ add_service_files(
         FILES
         ContinousDetectorSwitch.srv
         StatusChange.srv
+        SetLimitVel.srv
         CameraStatus.srv
         EnableImuTrigger.srv
         EnableGyro.srv
diff --git a/rm_msgs/srv/SetLimitVel.srv b/rm_msgs/srv/SetLimitVel.srv
new file mode 100644
index 00000000..defd1d84
--- /dev/null
+++ b/rm_msgs/srv/SetLimitVel.srv
@@ -0,0 +1,3 @@
+uint64 limit_vel
+---
+uint64 current_limit_vel