diff --git a/CMakeLists.txt b/CMakeLists.txt
index f0a00f931c68aedbf315ea51555e08c7dd4b50cf..fdd285061bbcb4e942260b70e6577d6df7c756f5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -61,6 +61,7 @@ add_message_files(
 add_service_files(
   FILES
   get_opendrive_map.srv
+  set_semaphore.srv
 #   Service1.srv
 #   Service2.srv
 )
diff --git a/srv/set_semaphore.srv b/srv/set_semaphore.srv
new file mode 100644
index 0000000000000000000000000000000000000000..20846ddd6ceb74a55a7b744e8b916a8c17611c20
--- /dev/null
+++ b/srv/set_semaphore.srv
@@ -0,0 +1,7 @@
+uint8 SEM_RED = 0
+uint8 SEM_GREEN = 1
+uint8 SEM_ORANGE_BLINK = 2
+
+uint8 color
+---
+