diff --git a/CMakeLists.txt b/CMakeLists.txt
index 031be4b..4c4bd00 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -80,6 +80,7 @@ set(MSG_FILES
 set(SRV_FILES
     "srv/SetPose.srv"
     "srv/StartSvoRec.srv"
+    "srv/SetROI.srv"
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}    
diff --git a/srv/SetROI.srv b/srv/SetROI.srv
new file mode 100644
index 0000000..8a12e24
--- /dev/null
+++ b/srv/SetROI.srv
@@ -0,0 +1,8 @@
+# Set the Region of Interest for ZED SDK computing
+
+# Region of interest polygon as an array of normalized vertices. e.g. "[[0.5,0.25],[0.75,0.5],[0.5,0.75],[0.25,0.5]]"
+# You can use
+string roi
+---
+bool success   # indicate successful run of service
+string message # informational, e.g. for error messages