diff --git a/CMakeLists.txt b/CMakeLists.txt
index ba824c4..cb91cbf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -100,6 +100,7 @@ set(srv_files
   "srv/RenameRobotStateInWarehouse.srv"
   "srv/DeleteRobotStateFromWarehouse.srv"
   "srv/ServoCommandType.srv"
+  "srv/GetGroupUrdf.srv"
 )
 
 set(action_files
diff --git a/srv/GetGroupUrdf.srv b/srv/GetGroupUrdf.srv
new file mode 100644
index 0000000..09df1de
--- /dev/null
+++ b/srv/GetGroupUrdf.srv
@@ -0,0 +1,7 @@
+# Name of the planning group for which an URDF is requested
+string group_name
+---
+# Whether an error occurred
+MoveItErrorCodes error_code
+# URDF of the requested group. Empty if request was not successful e.g. because the group does not exist
+string urdf_string