diff --git a/robotnik_actuators_msgs/CMakeLists.txt b/robotnik_actuators_msgs/CMakeLists.txt
index 9473824..4e2992b 100644
--- a/robotnik_actuators_msgs/CMakeLists.txt
+++ b/robotnik_actuators_msgs/CMakeLists.txt
@@ -15,6 +15,7 @@ set(srv_files
 
 set(action_files
   "action/SetPtz.action"
+  "action/DeviceCommand.action"
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}
diff --git a/robotnik_actuators_msgs/action/DeviceCommand.action b/robotnik_actuators_msgs/action/DeviceCommand.action
new file mode 100644
index 0000000..5eb1201
--- /dev/null
+++ b/robotnik_actuators_msgs/action/DeviceCommand.action
@@ -0,0 +1,9 @@
+# goal
+string command
+string parameters
+---
+# result
+robotnik_common_msgs/Response response
+---
+# feedback
+string status
diff --git a/robotnik_behavior_msgs/CHANGELOG.rst b/robotnik_behavior_msgs/CHANGELOG.rst
new file mode 100644
index 0000000..c7eb357
--- /dev/null
+++ b/robotnik_behavior_msgs/CHANGELOG.rst
@@ -0,0 +1,7 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package robotnik_behavior_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.0.0 (2026-07-13)
+------------------
+* Initial release
diff --git a/robotnik_behavior_msgs/CMakeLists.txt b/robotnik_behavior_msgs/CMakeLists.txt
new file mode 100644
index 0000000..76f732c
--- /dev/null
+++ b/robotnik_behavior_msgs/CMakeLists.txt
@@ -0,0 +1,43 @@
+cmake_minimum_required(VERSION 3.5)
+project(robotnik_behavior_msgs)
+
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+find_package(action_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(robotnik_common_msgs REQUIRED)
+
+set(msg_files
+)
+
+set(srv_files
+)
+
+set(action_files
+  "action/Charge.action"
+  "action/Uncharge.action"
+  "action/Procedure.action"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  ${srv_files}
+  ${action_files}
+  DEPENDENCIES
+    builtin_interfaces
+    action_msgs
+    geometry_msgs
+    robotnik_common_msgs
+  ADD_LINTER_TESTS
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/robotnik_behavior_msgs/action/Charge.action b/robotnik_behavior_msgs/action/Charge.action
new file mode 100644
index 0000000..ba88b20
--- /dev/null
+++ b/robotnik_behavior_msgs/action/Charge.action
@@ -0,0 +1,15 @@
+# goal
+string dock_frame
+string robot_dock_frame
+float32 dock_offset
+int8 retries
+---
+# result
+robotnik_common_msgs/Response response
+---
+# feedback
+int8 try_number
+string status
+geometry_msgs/Pose2D remaining_distance
+float32 time_in_action
+float32 time_in_step
diff --git a/robotnik_behavior_msgs/action/Procedure.action b/robotnik_behavior_msgs/action/Procedure.action
new file mode 100644
index 0000000..4ed2040
--- /dev/null
+++ b/robotnik_behavior_msgs/action/Procedure.action
@@ -0,0 +1,14 @@
+string dock_frame
+string robot_dock_frame
+float32 dock_offset
+int8 retries
+string command
+string parameters
+---
+robotnik_common_msgs/Response response
+---
+int8 try_number
+string status
+geometry_msgs/Pose2D remaining_distance
+float32 time_in_action
+float32 time_in_step
diff --git a/robotnik_behavior_msgs/action/Uncharge.action b/robotnik_behavior_msgs/action/Uncharge.action
new file mode 100644
index 0000000..7a1d67b
--- /dev/null
+++ b/robotnik_behavior_msgs/action/Uncharge.action
@@ -0,0 +1,11 @@
+# goal
+
+---
+# result
+robotnik_common_msgs/Response response
+---
+# feedback
+string status
+geometry_msgs/Pose2D remaining_distance
+float32 time_in_action
+float32 time_in_step
diff --git a/robotnik_behavior_msgs/package.xml b/robotnik_behavior_msgs/package.xml
new file mode 100644
index 0000000..4c193a2
--- /dev/null
+++ b/robotnik_behavior_msgs/package.xml
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<?xml-model
+  href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>robotnik_behavior_msgs</name>
+  <version>1.1.0</version>
+  <description>Message definitions for the Robotnik Navigation Stack</description>
+
+  <maintainer email="support@robotnik.es">Robotnik Automation</maintainer>
+  <license>BSD</license>
+  <author email="info@robotnik.es">Robotnik Automation</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>builtin_interfaces</depend>
+  <depend>geometry_msgs</depend>
+  <depend>action_msgs</depend>
+  <depend>robotnik_common_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>