diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
index fa2ed67..807aa63 100644
--- a/control_msgs/CMakeLists.txt
+++ b/control_msgs/CMakeLists.txt
@@ -21,6 +21,7 @@ find_package(trajectory_msgs REQUIRED)
 
 set(msg_files
   msg/AdmittanceControllerState.msg
+  msg/DynamicInterfaceValues.msg
   msg/DynamicJointState.msg
   msg/GripperCommand.msg
   msg/InterfaceValue.msg
diff --git a/control_msgs/msg/DynamicInterfaceValues.msg b/control_msgs/msg/DynamicInterfaceValues.msg
new file mode 100644
index 0000000..ea397d4
--- /dev/null
+++ b/control_msgs/msg/DynamicInterfaceValues.msg
@@ -0,0 +1,4 @@
+std_msgs/Header header
+
+InterfaceValue states
+InterfaceValue commands