diff --git a/microros_static_library_ide/library_generation/colcon.meta b/microros_static_library_ide/library_generation/colcon.meta
index dd24e96..00e0b14 100644
--- a/microros_static_library_ide/library_generation/colcon.meta
+++ b/microros_static_library_ide/library_generation/colcon.meta
@@ -43,11 +43,11 @@
                 "-DRMW_UXRCE_MAX_NODES=1",
                 "-DRMW_UXRCE_MAX_PUBLISHERS=10",
                 "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=5",
-                "-DRMW_UXRCE_MAX_SERVICES=1",
-                "-DRMW_UXRCE_MAX_CLIENTS=1",
+                "-DRMW_UXRCE_MAX_SERVICES=2",
+                "-DRMW_UXRCE_MAX_CLIENTS=4",
                 "-DRMW_UXRCE_MAX_HISTORY=4",
                 "-DRMW_UXRCE_TRANSPORT=custom"
             ]
         }
     }
-}
\ No newline at end of file
+}
diff --git a/microros_static_library_ide/library_generation/extra_packages/imu_interfaces/CMakeLists.txt b/microros_static_library_ide/library_generation/extra_packages/imu_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..af64f9c
--- /dev/null
+++ b/microros_static_library_ide/library_generation/extra_packages/imu_interfaces/CMakeLists.txt
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.8)
+project(imu_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/ImuCalibration.srv"
+  DEPENDENCIES sensor_msgs
+ )
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/microros_static_library_ide/library_generation/extra_packages/imu_interfaces/package.xml b/microros_static_library_ide/library_generation/extra_packages/imu_interfaces/package.xml
new file mode 100644
index 0000000..744eba7
--- /dev/null
+++ b/microros_static_library_ide/library_generation/extra_packages/imu_interfaces/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>imu_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="vasayos.tsr@gmail.com">teety</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/microros_static_library_ide/library_generation/extra_packages/imu_interfaces/srv/ImuCalibration.srv b/microros_static_library_ide/library_generation/extra_packages/imu_interfaces/srv/ImuCalibration.srv
new file mode 100644
index 0000000..928be14
--- /dev/null
+++ b/microros_static_library_ide/library_generation/extra_packages/imu_interfaces/srv/ImuCalibration.srv
@@ -0,0 +1,3 @@
+sensor_msgs/Imu imu_calib
+---
+bool success
\ No newline at end of file
diff --git a/microros_static_library_ide/library_generation/extra_packages/robotic_interfaces/CMakeLists.txt b/microros_static_library_ide/library_generation/extra_packages/robotic_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..263f9a6
--- /dev/null
+++ b/microros_static_library_ide/library_generation/extra_packages/robotic_interfaces/CMakeLists.txt
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.8)
+project(robotic_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/Keyboard.srv"
+  "srv/RandomTarget.srv"
+  "srv/StateScheduler.srv"
+ )
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/microros_static_library_ide/library_generation/extra_packages/robotic_interfaces/package.xml b/microros_static_library_ide/library_generation/extra_packages/robotic_interfaces/package.xml
new file mode 100644
index 0000000..25e414b
--- /dev/null
+++ b/microros_static_library_ide/library_generation/extra_packages/robotic_interfaces/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>robotic_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="vasayos.tsr@gmail.com">teety</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/microros_static_library_ide/library_generation/extra_packages/robotic_interfaces/srv/Keyboard.srv b/microros_static_library_ide/library_generation/extra_packages/robotic_interfaces/srv/Keyboard.srv
new file mode 100644
index 0000000..88d3bfa
--- /dev/null
+++ b/microros_static_library_ide/library_generation/extra_packages/robotic_interfaces/srv/Keyboard.srv
@@ -0,0 +1,8 @@
+string mode
+float64 x
+float64 y
+float64 z
+---
+bool success
+string message
+string workspace
\ No newline at end of file
diff --git a/microros_static_library_ide/library_generation/extra_packages/robotic_interfaces/srv/RandomTarget.srv b/microros_static_library_ide/library_generation/extra_packages/robotic_interfaces/srv/RandomTarget.srv
new file mode 100644
index 0000000..0d7171f
--- /dev/null
+++ b/microros_static_library_ide/library_generation/extra_packages/robotic_interfaces/srv/RandomTarget.srv
@@ -0,0 +1,6 @@
+bool data
+---
+bool success
+float64 x_target
+float64 y_target
+float64 z_target
diff --git a/microros_static_library_ide/library_generation/extra_packages/robotic_interfaces/srv/StateScheduler.srv b/microros_static_library_ide/library_generation/extra_packages/robotic_interfaces/srv/StateScheduler.srv
new file mode 100644
index 0000000..f635203
--- /dev/null
+++ b/microros_static_library_ide/library_generation/extra_packages/robotic_interfaces/srv/StateScheduler.srv
@@ -0,0 +1,3 @@
+string state
+---
+bool success
\ No newline at end of file