diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
index 30ca2ab..6972424 100644
--- a/control_msgs/CMakeLists.txt
+++ b/control_msgs/CMakeLists.txt
@@ -21,6 +21,7 @@ find_package(trajectory_msgs REQUIRED)
 
 set(msg_files
   msg/AdmittanceControllerState.msg
+  msg/DynamicInterfaceGroupValues.msg
   msg/DynamicJointState.msg
   msg/GripperCommand.msg
   msg/InterfaceValue.msg
diff --git a/control_msgs/msg/DynamicInterfaceGroupValues.msg b/control_msgs/msg/DynamicInterfaceGroupValues.msg
new file mode 100644
index 0000000..ff65ba6
--- /dev/null
+++ b/control_msgs/msg/DynamicInterfaceGroupValues.msg
@@ -0,0 +1,6 @@
+std_msgs/Header header
+
+# List of interface group names , e.g. ["flange_analog_IOs", "flange_vacuum"]
+string[] interface_groups
+# Key-value pairs representing interfaces and their corresponding values for each interface group listed in `interface_groups`
+InterfaceValue[] interface_values