diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7ea9737..300bc4e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,6 +37,7 @@ set(msg_files
 set(srv_files
   "srv/Sound.srv"
   "srv/Dqn.srv"
+  "srv/Goal.srv"
 )
 
 set(action_files
diff --git a/srv/Goal.srv b/srv/Goal.srv
new file mode 100644
index 0000000..a8dc7e3
--- /dev/null
+++ b/srv/Goal.srv
@@ -0,0 +1,4 @@
+---
+float32 pose_x
+float32 pose_y
+bool success