diff --git a/README.md b/README.md
index b72f30d..d23a4ef 100644
--- a/README.md
+++ b/README.md
@@ -50,6 +50,9 @@ Interfaces for the Robontiks Safety system of:
 Interfaces to manage Robotnik stacks and modules. Used by
 - https://github.com/RobotnikAutomation/robotnik_docker_supervisor
 
+### robotnik_manipulation_msgs
+
+Interfaces to manage ur_interepreter of Robotnik Manipulation Packages
 
 ## How to add a new interface
 
diff --git a/robotnik_manipulation_msgs/CHANGELOG.rst b/robotnik_manipulation_msgs/CHANGELOG.rst
new file mode 100644
index 0000000..4180156
--- /dev/null
+++ b/robotnik_manipulation_msgs/CHANGELOG.rst
@@ -0,0 +1,7 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package robotnik_manipulation_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.0.0 (2025-04-29)
+------------------
+* Initial release
diff --git a/robotnik_manipulation_msgs/CMakeLists.txt b/robotnik_manipulation_msgs/CMakeLists.txt
new file mode 100644
index 0000000..e42e165
--- /dev/null
+++ b/robotnik_manipulation_msgs/CMakeLists.txt
@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.5)
+project(robotnik_manipulation_msgs)
+
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+find_package(std_msgs REQUIRED)
+find_package(action_msgs REQUIRED)
+find_package(robotnik_common_msgs REQUIRED)
+
+set(msg_files
+)
+
+set(srv_files
+)
+
+set(action_files
+  "action/SendCommand.action"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  ${srv_files}
+  ${action_files}
+  DEPENDENCIES
+    builtin_interfaces
+    action_msgs
+    geometry_msgs
+    robotnik_common_msgs
+  ADD_LINTER_TESTS
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/robotnik_manipulation_msgs/action/SendCommand.action b/robotnik_manipulation_msgs/action/SendCommand.action
new file mode 100644
index 0000000..dbd36a0
--- /dev/null
+++ b/robotnik_manipulation_msgs/action/SendCommand.action
@@ -0,0 +1,12 @@
+# Goal
+string command
+---
+# Result
+string command
+bool success
+string description
+int16 code
+---
+# Feedback
+string command
+string description
diff --git a/robotnik_manipulation_msgs/package.xml b/robotnik_manipulation_msgs/package.xml
new file mode 100644
index 0000000..22d33a0
--- /dev/null
+++ b/robotnik_manipulation_msgs/package.xml
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<?xml-model
+  href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>robotnik_manipulation_msgs</name>
+  <version>1.0.0</version>
+  <description>Message definitions for the Robotnik Manipulation Packages</description>
+
+  <maintainer email="support@robotnik.es">Robotnik Automation</maintainer>
+  <license>BSD</license>
+  <author email="info@robotnik.es">Robotnik Automation</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>builtin_interfaces</depend>
+  <depend>action_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>robotnik_common_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>