diff --git a/opencat/CMakeLists.txt b/opencat/CMakeLists.txt
index 8388830..6323a74 100644
--- a/opencat/CMakeLists.txt
+++ b/opencat/CMakeLists.txt
@@ -16,28 +16,36 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-
-# find dependencies
+# Find dependencies
 find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
-# service files
 find_package(rosidl_default_generators REQUIRED)
+find_package(type_description_interfaces REQUIRED)
+find_package(opencat_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+
+# Create a library or executable
+add_library(${PROJECT_NAME} src/opencat/opencat.cpp)
 
-rosidl_generate_interfaces(${PROJECT_NAME}_srv
-  "srv/BaseTask.srv"
+ament_target_dependencies(${PROJECT_NAME}
+  type_description_interfaces
 )
 
+# Link libraries
+target_link_libraries(${PROJECT_NAME}
+  rclcpp
+  # type_description_interfaces
+)
+
+# Include directories
 include_directories(include)
-add_library(${PROJECT_NAME} src/opencat/opencat.cpp)
-rosidl_target_interfaces(${PROJECT_NAME}
-      ${PROJECT_NAME}_srv "rosidl_typesupport_cpp")
+include_directories(${rclcpp_INCLUDE_DIRS})
+include_directories(${opencat_msgs_INCLUDE_DIRS})
 
+# Export the targets
 ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(rosidl_default_generators)
 
-# export lib
+# Install the library and headers
 install(
   DIRECTORY include/
   DESTINATION include
@@ -52,14 +60,9 @@ install(
   INCLUDES DESTINATION include
 )
 
+# Testing configuration
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # uncomment the line when a copyright and license is not present in all source files
-  #set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
-  #set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
 
diff --git a/opencat/include/opencat/opencat.hpp b/opencat/include/opencat/opencat.hpp
index 74472fe..340f03c 100644
--- a/opencat/include/opencat/opencat.hpp
+++ b/opencat/include/opencat/opencat.hpp
@@ -6,7 +6,8 @@
  **/
 #ifndef OPENCAT_H_
 #define OPENCAT_H_
-#include "opencat/srv/base_task.hpp"
+
+#include "opencat_msgs/srv/base_task.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include <cstdint>
 #include <vector>
@@ -14,7 +15,7 @@ using std::vector;
 
 namespace OpenCat
 {
-using namespace opencat::srv;
+using namespace opencat_msgs::srv;
 /**
  * @brief list all commands available
  **/
diff --git a/opencat/package.xml b/opencat/package.xml
index 9708e49..85a08bc 100644
--- a/opencat/package.xml
+++ b/opencat/package.xml
@@ -7,6 +7,9 @@
   <maintainer email="cc7@duck.com">C.C</maintainer>
   <license>MIT</license>
 
+  <depend>rclcpp</depend>
+  <depend>opencat_msgs</depend>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/opencat_examples/CMakeLists.txt b/opencat_examples/CMakeLists.txt
index 95b864a..0d8e70a 100644
--- a/opencat_examples/CMakeLists.txt
+++ b/opencat_examples/CMakeLists.txt
@@ -22,17 +22,30 @@ find_package(ament_cmake REQUIRED)
 # uncomment the following section in order to fill in
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
-find_package(opencat_serial REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(opencat REQUIRED)
+find_package(opencat_msgs REQUIRED)
+find_package(opencat_serial REQUIRED)
+find_package(opencat_server REQUIRED)
+
+# Add linker directory explicitly
+link_directories("/opt/ros/jazzy/lib")
 
 add_executable(serial_example src/serial_example.cpp)
 ament_target_dependencies(serial_example
-  opencat_serial)
+  rclcpp
+  opencat
+  opencat_msgs
+  opencat_serial
+  opencat_server)
 
 add_executable(client_example src/client_example.cpp)
 ament_target_dependencies(client_example
+  rclcpp
+  opencat
+  opencat_msgs
   opencat_serial
-  rclcpp)
+  opencat_server)
 
 install(
   TARGETS serial_example client_example
diff --git a/opencat_examples/package.xml b/opencat_examples/package.xml
index caf0cd5..217083a 100644
--- a/opencat_examples/package.xml
+++ b/opencat_examples/package.xml
@@ -7,8 +7,11 @@
   <maintainer email="cc7@duck.com">C.C</maintainer>
   <license>MIT</license>
 
-  <depend>opencat_serial</depend>
+  <depend>rclcpp</depend>
   <depend>opencat</depend>
+  <depend>opencat_msgs</depend>
+  <depend>opencat_serial</depend>
+  <depend>opencat_server</depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/opencat_examples/src/client_example.cpp b/opencat_examples/src/client_example.cpp
index 7fe5510..6b41c68 100644
--- a/opencat_examples/src/client_example.cpp
+++ b/opencat_examples/src/client_example.cpp
@@ -1,8 +1,8 @@
 #include "opencat/opencat.hpp"
-#include "opencat/srv/base_task.hpp"
+#include "opencat_msgs/srv/base_task.hpp"
 #include "rclcpp/rclcpp.hpp"
 
-using namespace opencat::srv;
+using namespace opencat_msgs::srv;
 const vector<int16_t> pee{
     -4, 0,  10,  1,  2,   3,  3,  30,  20, 0,   0,  15, -10, 60, -10,
     40, 40, 90,  45, 10,  60, 70, 45,  6,  0,   0,  0,  45,  20, 0,
diff --git a/opencat_msgs/CMakeLists.txt b/opencat_msgs/CMakeLists.txt
new file mode 100644
index 0000000..0511ec7
--- /dev/null
+++ b/opencat_msgs/CMakeLists.txt
@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.5)
+project(opencat_msgs)
+
+# Find dependencies for building the package
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+
+# Generate the messages and services from the .srv files
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/BaseTask.srv"  # Define the BaseTask service
+  DEPENDENCIES std_msgs  # List any additional dependencies, like std_msgs
+)
+
+# Export dependencies to other packages that depend on this one
+ament_export_dependencies(rosidl_default_runtime)
+
+# Install the service definitions
+install(DIRECTORY srv
+  DESTINATION share/${PROJECT_NAME}/srv
+)
+
+# Declare this as an ament package
+ament_package()
diff --git a/opencat_msgs/package.xml b/opencat_msgs/package.xml
new file mode 100644
index 0000000..fe466a8
--- /dev/null
+++ b/opencat_msgs/package.xml
@@ -0,0 +1,26 @@
+<?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>opencat_msgs</name>
+  <version>0.0.1</version>
+  <description>Messages and services for OpenCat control.</description>
+  <maintainer email="cc7@duck.com">C.C</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <depend>std_msgs</depend>
+  <depend>type_description_interfaces</depend>
+
+  <test_depend>ament_lint_auto</test_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>
diff --git a/opencat/srv/BaseTask.srv b/opencat_msgs/srv/BaseTask.srv
similarity index 100%
rename from opencat/srv/BaseTask.srv
rename to opencat_msgs/srv/BaseTask.srv
diff --git a/opencat_serial/CMakeLists.txt b/opencat_serial/CMakeLists.txt
index 7c77a91..ec46a68 100644
--- a/opencat_serial/CMakeLists.txt
+++ b/opencat_serial/CMakeLists.txt
@@ -20,8 +20,11 @@ endif()
 find_package(ament_cmake REQUIRED)
 # uncomment the following section in order to fill in
 # further dependencies manually.
+find_package(type_description_interfaces REQUIRED)
+find_package(rclcpp REQUIRED)
 find_package(serial REQUIRED)
 find_package(opencat REQUIRED)
+find_package(opencat_msgs REQUIRED)
 
 include_directories(include)
 add_library(
@@ -29,8 +32,11 @@ add_library(
   src/${PROJECT_NAME}/${PROJECT_NAME}.cpp)
 
 ament_target_dependencies(${PROJECT_NAME}
+  rclcpp
   opencat
-  serial)
+  opencat_msgs
+  serial
+  type_description_interfaces)
 
 ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(opencat serial)
diff --git a/opencat_serial/package.xml b/opencat_serial/package.xml
index 2592dea..d76d422 100644
--- a/opencat_serial/package.xml
+++ b/opencat_serial/package.xml
@@ -9,7 +9,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>rclcpp</depend>
+  <depend>type_description_interfaces</depend>
   <depend>opencat</depend>
+  <depend>opencat_msgs</depend>
   <depend>serial</depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/opencat_server/CMakeLists.txt b/opencat_server/CMakeLists.txt
index ce8942b..3835d24 100644
--- a/opencat_server/CMakeLists.txt
+++ b/opencat_server/CMakeLists.txt
@@ -21,8 +21,12 @@ find_package(ament_cmake REQUIRED)
 # uncomment the following section in order to fill in
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
-find_package(opencat_serial REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(opencat_msgs REQUIRED)
+find_package(opencat_serial REQUIRED)
+
+# Add linker directory explicitly
+link_directories("/opt/ros/jazzy/lib")
 
 include_directories(include)
 add_executable(
@@ -31,10 +35,13 @@ add_executable(
   src/opencat_server/opencat_server.cpp)
 ament_target_dependencies(
   opencat_service_node
-  opencat_serial
   rclcpp
+  opencat_msgs
+  opencat_serial
   )
 
+ament_export_dependencies(opencat_msgs)
+
 install(
   TARGETS opencat_service_node
   DESTINATION lib/${PROJECT_NAME}
diff --git a/opencat_server/include/opencat_server/opencat_server.hpp b/opencat_server/include/opencat_server/opencat_server.hpp
index 7b853da..8c054e0 100644
--- a/opencat_server/include/opencat_server/opencat_server.hpp
+++ b/opencat_server/include/opencat_server/opencat_server.hpp
@@ -1,11 +1,11 @@
 #ifndef OPENCAT_CONTROL_H_
 #define OPENCAT_CONTROL_H_
-#include "opencat/srv/base_task.hpp"
+#include "opencat_msgs/srv/base_task.hpp"
 #include "opencat_serial/opencat_serial.hpp"
-#include <opencat/srv/detail/base_task__struct.hpp>
+#include <opencat_msgs/srv/detail/base_task__struct.hpp>
 #include <string>
 #include <vector>
-using namespace opencat::srv;
+using namespace opencat_msgs::srv;
 using std::vector;
 
 namespace OpenCat
diff --git a/opencat_server/package.xml b/opencat_server/package.xml
index dacffec..994e3e8 100644
--- a/opencat_server/package.xml
+++ b/opencat_server/package.xml
@@ -7,6 +7,8 @@
   <maintainer email="cc7@duck.com">C.C</maintainer>
   <license>MIT</license>
 
+  <depend>rclcpp</depend>
+  <depend>opencat_msgs</depend>
   <depend>opencat_serial</depend>
   <buildtool_depend>ament_cmake</buildtool_depend>