diff --git a/rm_msgs/CMakeLists.txt b/rm_msgs/CMakeLists.txt
index 5aab3af2..607dff3c 100644
--- a/rm_msgs/CMakeLists.txt
+++ b/rm_msgs/CMakeLists.txt
@@ -35,6 +35,7 @@ add_service_files(
         StatusChange.srv
         CameraStatus.srv
         EnableImuTrigger.srv
+        EnableGyro.srv
 )
 
 add_message_files(
diff --git a/rm_msgs/srv/EnableGyro.srv b/rm_msgs/srv/EnableGyro.srv
new file mode 100644
index 00000000..f3dfc7ba
--- /dev/null
+++ b/rm_msgs/srv/EnableGyro.srv
@@ -0,0 +1,3 @@
+uint64 gyro_speed
+---
+bool is_gyro