diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
index 76f96ee..c449451 100644
--- a/control_msgs/CMakeLists.txt
+++ b/control_msgs/CMakeLists.txt
@@ -8,7 +8,8 @@ add_action_files(DIRECTORY action FILES
   GripperCommand.action
   JointTrajectory.action
   PointHead.action
-  SingleJointPosition.action)
+  SingleJointPosition.action
+  JointGroupCommand.action)
 
 add_message_files(DIRECTORY msg FILES
   GripperCommand.msg
diff --git a/control_msgs/action/JointGroupCommand.action b/control_msgs/action/JointGroupCommand.action
new file mode 100644
index 0000000..9272637
--- /dev/null
+++ b/control_msgs/action/JointGroupCommand.action
@@ -0,0 +1,34 @@
+# Used in time-stamping the goal.
+Header header
+
+# Name list of the joints. You don't need to specify all joints of the
+# robot. Joint names are case-sensitive.
+string[] joint_names
+
+# A command to the joints listed in joint_names.
+# Can be position, velocity, effort, and/or acceleration.
+# The order must be identical.
+# time_from_start is the command duration / timeout
+# Set to 0 for no timeout.
+trajectory_msgs/JointTrajectoryPoint command
+
+---
+int32 error_code
+int32 SUCCESSFUL = 0
+int32 INVALID_GOAL = -1
+int32 INVALID_JOINTS = -2
+int32 OLD_HEADER_TIMESTAMP = -3
+
+# Human readable description of the error code. Contains complementary
+# information that is especially useful when execution fails, for instance:
+# - INVALID_GOAL: The reason for the invalid goal (e.g., the requested
+#   command violates the controller limits).
+# - INVALID_JOINTS: The mismatch between the expected controller joints
+#   and those provided in the goal.
+string error_string
+
+---
+Header header
+string[] joint_names
+trajectory_msgs/JointTrajectoryPoint desired
+trajectory_msgs/JointTrajectoryPoint actual