diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3ff82bc..ba5fff1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -50,10 +50,10 @@ add_message_files(
 )
 
 ## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service.srv
-# )
+add_service_files(
+  FILES
+  SetAxisHome.srv
+)
 
 ## Generate actions in the 'action' folder
 # add_action_files(
diff --git a/sensor_msgs_ext.pro b/sensor_msgs_ext.pro
index e4b2dc3..2fa9558 100644
--- a/sensor_msgs_ext.pro
+++ b/sensor_msgs_ext.pro
@@ -7,4 +7,5 @@ DISTFILES += \
     CMakeLists.txt \
     msg/AxisDelta.msg \
     msg/AxisState.msg \
-    package.xml
+    package.xml \
+    srv/SetAxisHome.srv
diff --git a/srv/SetAxisHome.srv b/srv/SetAxisHome.srv
new file mode 100644
index 0000000..6640a86
--- /dev/null
+++ b/srv/SetAxisHome.srv
@@ -0,0 +1,5 @@
+# Sets the home position of the axis to it's current position.
+
+---
+bool success        # Indicates if the home position was set successfully.
+string message      # Provides an error message if unsuccessful.