diff --git a/CMakeLists.txt b/CMakeLists.txt
index c33e3d1..d28477e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -25,6 +25,10 @@ set(srv_files
   srv/SetForceMode.srv
 )
 
+set(action_files
+  action/ToolContact.action
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
@@ -33,6 +37,7 @@ endif()
 rosidl_generate_interfaces(${PROJECT_NAME}
   ${msg_files}
   ${srv_files}
+  ${action_files}
   DEPENDENCIES builtin_interfaces geometry_msgs
   ADD_LINTER_TESTS
 )
diff --git a/action/ToolContact.action b/action/ToolContact.action
new file mode 100644
index 0000000..e1e37b5
--- /dev/null
+++ b/action/ToolContact.action
@@ -0,0 +1,8 @@
+
+---
+uint8 SUCCESS=1
+uint8 CANCELLED_BY_USER=2
+uint8 ABORTED_BY_HARDWARE=3
+uint8 ABORTED_BY_CONTROLLER=4
+uint8 result
+---
diff --git a/package.xml b/package.xml
index 8e9665a..7798154 100644
--- a/package.xml
+++ b/package.xml
@@ -16,6 +16,7 @@
 
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
+  <depend>action_msgs</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>