diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
index 52240e0..6940d7b 100644
--- a/control_msgs/CMakeLists.txt
+++ b/control_msgs/CMakeLists.txt
@@ -26,6 +26,8 @@ set(msg_files
   msg/DynamicJointState.msg
   msg/GripperCommand.msg
   msg/InterfaceValue.msg
+  msg/IOGripperControllerState.msg
+  msg/IOGripperState.msg
   msg/JointComponentTolerance.msg
   msg/JointControllerState.msg
   msg/JointJog.msg
@@ -45,14 +47,17 @@ set(action_files
   action/ParallelGripperCommand.action
   action/FollowJointTrajectory.action
   action/GripperCommand.action
+  action/IOGripperCommand.action
   action/JointTrajectory.action
   action/PointHead.action
+  action/SetIOGripperConfig.action
   action/SingleJointPosition.action
 )
 
 set(srv_files
   srv/QueryCalibrationState.srv
   srv/QueryTrajectoryState.srv
+  srv/SetIOGripperConfig.srv
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}
diff --git a/control_msgs/action/IOGripperCommand.action b/control_msgs/action/IOGripperCommand.action
new file mode 100644
index 0000000..64150e8
--- /dev/null
+++ b/control_msgs/action/IOGripperCommand.action
@@ -0,0 +1,11 @@
+# This action interface is defined for controlling the io gripper controller to open or close the gripper
+
+# The grippers are going through the different states during opening and closing process.
+# Those are returned as feedback.
+
+bool open # boolean value to indicate if the gripper should be opened or closed (e.g. true for open, false for close)
+---
+bool success # true for performing the gripper command successfully and vice versa
+string message # informational, e.g. for success or error messages
+---
+IOGripperState transition # state of the gripper during transition as defined above
diff --git a/control_msgs/action/SetIOGripperConfig.action b/control_msgs/action/SetIOGripperConfig.action
new file mode 100644
index 0000000..bde7fb1
--- /dev/null
+++ b/control_msgs/action/SetIOGripperConfig.action
@@ -0,0 +1,13 @@
+# This action interface is defined for setting the configuration of the io gripper controller
+# In yaml file of the io_gripper_controller, the configuration is defined as a list of strings
+# e.g. configurations: ["narrow_objects", "wide_objects"]
+# The action request is called with the name of the configuration to be set
+
+# The io_gripper_controller follows a set of states to reconfigure the gripper
+
+string config_name # information about which configuration is being set for the gripper controller
+---
+bool result # indicate success for setting the configuration of the gripper controller and vice versa
+string status # informational, e.g. for success or error messages
+---
+IOGripperState transition # state of the gripper during transition as defined above
diff --git a/control_msgs/msg/IOGripperControllerState.msg b/control_msgs/msg/IOGripperControllerState.msg
new file mode 100644
index 0000000..8ff868b
--- /dev/null
+++ b/control_msgs/msg/IOGripperControllerState.msg
@@ -0,0 +1,7 @@
+# Name of the gripper open close state. Note that it can have multiple "closed" states. If empty, then transition is happening and check the state of the transition.
+string open_close
+IOGripperState open_close_transition
+
+# Name of the gripper's current configuration. If empty, then transition is happening and check the state of the transition.
+string configuration
+IOGripperState configuration_transition
diff --git a/control_msgs/msg/IOGripperState.msg b/control_msgs/msg/IOGripperState.msg
new file mode 100644
index 0000000..cd3bd6e
--- /dev/null
+++ b/control_msgs/msg/IOGripperState.msg
@@ -0,0 +1,21 @@
+# The grippers are going through the different states during opening, closing, and configuration changes process.
+
+# The gripper is in an idle state, not performing any action.
+uint8 IDLE=0
+# The gripper is setting command interfaces to be able to perform open or close action, e.g., disabling breaks.
+uint8 SET_BEFORE_COMMAND=1
+# (optional) Check if before command is set correctly and confirmed by the sensors.
+uint8 CHECK_BEFORE_COMMAND=2
+# Set command to gripper's command interfaces.
+uint8 SET_COMMAND=11
+# The controller is checking its current gripper's state on state interfaces.
+uint8 CHECK_COMMAND=12
+# The gripper is setting "after" commands when open or close process if finished, e.g., engaging breaks.
+uint8 SET_AFTER_COMMAND=21
+# (optional) Check if after command is set correctly and confirmed by the sensors.
+uint8 CHECK_AFTER_COMMAND=22
+# The gripper has halted due to an error or stop command.
+uint8 HALTED=100
+
+# state of the gripper during transitions as defined above
+uint8 state
diff --git a/control_msgs/srv/SetIOGripperConfig.srv b/control_msgs/srv/SetIOGripperConfig.srv
new file mode 100644
index 0000000..8747e7d
--- /dev/null
+++ b/control_msgs/srv/SetIOGripperConfig.srv
@@ -0,0 +1,9 @@
+# This service interface is defined for setting the configuration of the io gripper controller
+# In yaml file of the io_gripper_controller, the configuration is defined as a list of strings
+# e.g. configurations: ["narrow_objects", "wide_objects"]
+# The service request is called with the name of the configuration to be set
+
+string config_name # information about which configuration is being set for the gripper controller
+---
+bool result # indicate success for setting the configuration of the gripper controller and vice versa
+string status # informational, e.g. for success or error messages