diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
index fa2ed67..c04f425 100644
--- a/control_msgs/CMakeLists.txt
+++ b/control_msgs/CMakeLists.txt
@@ -49,6 +49,7 @@ set(action_files
 set(srv_files
   srv/QueryCalibrationState.srv
   srv/QueryTrajectoryState.srv
+  srv/SetScalingFactor.srv
 )
 
 if(BUILD_TESTING)
diff --git a/control_msgs/srv/SetScalingFactor.srv b/control_msgs/srv/SetScalingFactor.srv
new file mode 100644
index 0000000..254a2a9
--- /dev/null
+++ b/control_msgs/srv/SetScalingFactor.srv
@@ -0,0 +1,3 @@
+float64 scaling_factor
+---
+bool success
\ No newline at end of file