diff --git a/lifecycle_msgs/CMakeLists.txt b/lifecycle_msgs/CMakeLists.txt
index 4281c43a..ee18b4cd 100644
--- a/lifecycle_msgs/CMakeLists.txt
+++ b/lifecycle_msgs/CMakeLists.txt
@@ -21,6 +21,7 @@ set(msg_files
   "msg/TransitionEvent.msg"
 )
 set(srv_files
+  "srv/CancelTransition.srv"
   "srv/ChangeState.srv"
   "srv/GetAvailableStates.srv"
   "srv/GetAvailableTransitions.srv"
diff --git a/lifecycle_msgs/srv/CancelTransition.srv b/lifecycle_msgs/srv/CancelTransition.srv
new file mode 100644
index 00000000..58b53e61
--- /dev/null
+++ b/lifecycle_msgs/srv/CancelTransition.srv
@@ -0,0 +1,5 @@
+---
+# Indicates if the cancel request was handled successfully
+bool success
+# Error response if the request was rejected or failed
+string error_msg