diff --git a/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt b/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt
index 77211ae..06d384c 100644
--- a/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt
+++ b/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt
@@ -23,6 +23,7 @@ set(msg_files
   "msg/Json.msg"
   "msg/LicenseInfo.msg"
   "msg/Log.msg"
+  "msg/ObjectiveServerStatus.msg"
   "msg/PlanningGroup.msg"
   "msg/RobotJointState.msg"
   "msg/Waypoint.msg"
diff --git a/moveit_studio_msgs/moveit_studio_agent_msgs/msg/ObjectiveServerStatus.msg b/moveit_studio_msgs/moveit_studio_agent_msgs/msg/ObjectiveServerStatus.msg
new file mode 100644
index 0000000..fbc60c2
--- /dev/null
+++ b/moveit_studio_msgs/moveit_studio_agent_msgs/msg/ObjectiveServerStatus.msg
@@ -0,0 +1,8 @@
+# Heartbeat timestamps of the Objective Server node
+builtin_interfaces/Time process_timestamp
+builtin_interfaces/Time ros_timestamp
+
+# Name and status descriptor of the current objective tree
+# See StatusTree::NodeStatus for valid objective_status values
+string objective_name
+string objective_status