diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8015c6e..d28deeb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,6 +6,10 @@ find_package(builtin_interfaces REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(geometry_msgs REQUIRED)
 
+set(action_files
+  action/EnableFreedriveMode.action
+)
+
 set(msg_files
   msg/Analog.msg
   msg/Digital.msg
@@ -30,6 +34,7 @@ if(BUILD_TESTING)
 endif()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
+  ${action_files}
   ${msg_files}
   ${srv_files}
   DEPENDENCIES builtin_interfaces geometry_msgs
diff --git a/action/EnableFreedriveMode.action b/action/EnableFreedriveMode.action
new file mode 100644
index 0000000..f59a71d
--- /dev/null
+++ b/action/EnableFreedriveMode.action
@@ -0,0 +1,5 @@
+# Action to enable freedrive mode
+# once the FreedriveModeController is active
+---
+---
+