diff --git a/CMakeLists.txt b/CMakeLists.txt
index f0a00f931c68aedbf315ea51555e08c7dd4b50cf..2746e921e56956510187636b14c1d9ff030e5dca 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -55,12 +55,14 @@ add_message_files(
   adc_goal_array.msg
   feature.msg
   feature_array.msg
+  adc_opendrive_nodes.msg
 )
 
 ## Generate services in the 'srv' folder
 add_service_files(
   FILES
   get_opendrive_map.srv
+  get_opendrive_nodes.srv
 #   Service1.srv
 #   Service2.srv
 )
diff --git a/msg/adc_opendrive_nodes.msg b/msg/adc_opendrive_nodes.msg
new file mode 100644
index 0000000000000000000000000000000000000000..ae74ef03727a6eb67c53a7fbdf9860d0a43b0a47
--- /dev/null
+++ b/msg/adc_opendrive_nodes.msg
@@ -0,0 +1,2 @@
+Header header
+uint32[] nodes
diff --git a/srv/get_opendrive_nodes.srv b/srv/get_opendrive_nodes.srv
new file mode 100644
index 0000000000000000000000000000000000000000..d07174a6d5b909fa06bf191525d17ce2bbe9a462
--- /dev/null
+++ b/srv/get_opendrive_nodes.srv
@@ -0,0 +1,2 @@
+---
+iri_adc_msgs/adc_opendrive_nodes opendrive_nodes