diff --git a/humanoid_common_msgs/CMakeLists.txt b/humanoid_common_msgs/CMakeLists.txt
index 8a0e1082032dcce2ead0366d392dad22cf214179..567e8fd609ae88b6b301909485e84a732f68f59d 100644
--- a/humanoid_common_msgs/CMakeLists.txt
+++ b/humanoid_common_msgs/CMakeLists.txt
@@ -61,6 +61,7 @@ add_service_files(
   get_pid.srv
   set_smart_charger_config.srv
   get_smart_charger_config.srv
+  set_qr_size.srv
 )
 
 ## Generate actions in the 'action' folder
diff --git a/humanoid_common_msgs/srv/set_qr_size.srv b/humanoid_common_msgs/srv/set_qr_size.srv
new file mode 100644
index 0000000000000000000000000000000000000000..86997e1d43b6f212c00fcded9f86f0090beeb7ee
--- /dev/null
+++ b/humanoid_common_msgs/srv/set_qr_size.srv
@@ -0,0 +1,4 @@
+float32 qr_x
+float32 qr_y
+---
+bool success