diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index e31aacc..db4f71f 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -26,10 +26,6 @@ set(msg_files
   msg/ImgMsg.msg
   msg/MotorPos.msg
   msg/MotorCmd.msg
-  msg/BodyType.msg
-  msg/ArmActionType.msg
-  msg/ArmErrCode.msg
-  msg/ArmDataLength.msg
   msg/SkillCall.msg
 )
 set(action_files
@@ -53,6 +49,12 @@ set(srv_files
   srv/MapSave.srv
 )
 
+include_directories(include)
+ament_export_include_directories(include)
+install(DIRECTORY include/
+  DESTINATION include/interfaces
+)
+
 # uncomment the following section in order to fill in
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
diff --git a/src/action/Arm.action b/src/action/Arm.action
index 08a7d1a..d45b436 100644
--- a/src/action/Arm.action
+++ b/src/action/Arm.action
@@ -1,17 +1,17 @@
-interfaces/BodyType body_id
-interfaces/ArmActionType data_type
-interfaces/ArmDataLength data_length
+int8 body_id
+int8 data_type
+int16 data_length
 int64 command_id
 int64 frame_time_stamp
 float64[] data_array
 ---
-interfaces/ArmErrCode result
+int32 result
 int64 command_id
 int64 end_time
 geometry_msgs/Pose pose
 ---
 int64 command_id
 int16 int_lenth
-interfaces/ArmDataLength float_length
+int16 float_length
 int32[] int_data_array
 float64[] float_data_array
\ No newline at end of file
diff --git a/src/msg/ArmActionType.msg b/src/msg/ArmActionType.msg
deleted file mode 100644
index b573aec..0000000
--- a/src/msg/ArmActionType.msg
+++ /dev/null
@@ -1,6 +0,0 @@
-int8 ARM_COMMAND_TYPE_ANGLE_STEP_ON = 0
-int8 ARM_COMMAND_TYPE_POSE_STEP_ON = 1
-int8 ARM_COMMAND_TYPE_ANGLE_DIRECT_MOVE = 2
-int8 ARM_COMMAND_TYPE_POSE_DIRECT_MOVE = 3
-
-int8 action_type
diff --git a/src/msg/ArmDataLength.msg b/src/msg/ArmDataLength.msg
deleted file mode 100644
index 8897287..0000000
--- a/src/msg/ArmDataLength.msg
+++ /dev/null
@@ -1,10 +0,0 @@
-int16 POSE_POSITION_X = 0
-int16 POSE_POSITION_Y = 1
-int16 POSE_POSITION_Z = 2
-int16 POSE_QUATERNION_X = 3
-int16 POSE_QUATERNION_Y = 4
-int16 POSE_QUATERNION_Z = 5
-int16 POSE_QUATERNION_W = 6
-int16 POSE_DIMENSION = 7
-
-int16 data_length
\ No newline at end of file
diff --git a/src/msg/ArmErrCode.msg b/src/msg/ArmErrCode.msg
deleted file mode 100644
index 237db74..0000000
--- a/src/msg/ArmErrCode.msg
+++ /dev/null
@@ -1,9 +0,0 @@
-int32 OK = 0
-int32 UNKNOWN_ERR = -1
-int32 ARM_NOW_FORCE_MOVING = -2
-int32 ARM_COLLISION = -3
-int32 ARM_AIM_CANNOT_REACH = -4
-int32 ARM_NOW_NO_GOAL = -5
-int32 ARM_GOAL_CANCELLED = -6
-
-int32 result
\ No newline at end of file
diff --git a/src/msg/BodyType.msg b/src/msg/BodyType.msg
deleted file mode 100644
index 74f74f2..0000000
--- a/src/msg/BodyType.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-int8 LEFT_ARM = 0
-int8 RIGHT_ARM = 1
-
-int8 body_id
\ No newline at end of file