diff --git a/visualization_msgs/CMakeLists.txt b/visualization_msgs/CMakeLists.txt
index 3bcd627b..1dcfb8a3 100644
--- a/visualization_msgs/CMakeLists.txt
+++ b/visualization_msgs/CMakeLists.txt
@@ -28,8 +28,13 @@ set(msg_files
   "msg/MarkerArray.msg"
   "msg/MenuEntry.msg"
 )
+set(srv_files
+  "srv/GetInteractiveMarkers.srv"
+)
+
 rosidl_generate_interfaces(${PROJECT_NAME}
   ${msg_files}
+  ${srv_files}
   DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
   ADD_LINTER_TESTS
 )
diff --git a/visualization_msgs/srv/GetInteractiveMarkers.srv b/visualization_msgs/srv/GetInteractiveMarkers.srv
new file mode 100644
index 00000000..493e885e
--- /dev/null
+++ b/visualization_msgs/srv/GetInteractiveMarkers.srv
@@ -0,0 +1,9 @@
+---
+# Sequence number.
+# Set to the sequence number of the latest update message
+# at the time the server received the request.
+# Clients use this to detect if any updates were missed.
+uint64 sequence_number
+
+# All interactive markers provided by the server.
+InteractiveMarker[] markers