diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
index 03caee9..807aa63 100644
--- a/control_msgs/CMakeLists.txt
+++ b/control_msgs/CMakeLists.txt
@@ -36,7 +36,6 @@ set(msg_files
   msg/PidState.msg
   msg/SingleDOFState.msg
   msg/SingleDOFStateStamped.msg
-  msg/SingleInterfaceValue.msg
   msg/SteeringControllerStatus.msg
 )
 
diff --git a/control_msgs/msg/DynamicInterfaceValues.msg b/control_msgs/msg/DynamicInterfaceValues.msg
index d517eeb..ea397d4 100644
--- a/control_msgs/msg/DynamicInterfaceValues.msg
+++ b/control_msgs/msg/DynamicInterfaceValues.msg
@@ -1,2 +1,4 @@
-SingleInterfaceValue[] state_interface_values
-SingleInterfaceValue[] command_interface_values
+std_msgs/Header header
+
+InterfaceValue states
+InterfaceValue commands
diff --git a/control_msgs/msg/InterfaceValue.msg b/control_msgs/msg/InterfaceValue.msg
index b3364c8..1ec38d8 100644
--- a/control_msgs/msg/InterfaceValue.msg
+++ b/control_msgs/msg/InterfaceValue.msg
@@ -1,4 +1,4 @@
 # List of resource interface names
 string[] interface_names
 # Values corresponding to the list of interfaces in `interface_names`, [1.0, 0.0] for example
-float64[] values
+float64[] values
\ No newline at end of file
diff --git a/control_msgs/msg/SingleInterfaceValue.msg b/control_msgs/msg/SingleInterfaceValue.msg
deleted file mode 100644
index 897d9d1..0000000
--- a/control_msgs/msg/SingleInterfaceValue.msg
+++ /dev/null
@@ -1,6 +0,0 @@
-std_msgs/Header header
-
-# Full qualified interface name e.g. "joint1/position"
-string interface_name
-# Value corresponding to the interface 
-float64 value