diff --git a/buoy_interfaces/CMakeLists.txt b/buoy_interfaces/CMakeLists.txt
index 836d760..130266e 100644
--- a/buoy_interfaces/CMakeLists.txt
+++ b/buoy_interfaces/CMakeLists.txt
@@ -25,6 +25,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/BenderCommand.srv"
   "srv/BusCommand.srv"
   "srv/GainCommand.srv"
+  "srv/IncWaveHeight.srv"
   "srv/PCBattSwitchCommand.srv"
   "srv/PCBiasCurrCommand.srv"
   "srv/PCChargeCurrLimCommand.srv"
diff --git a/buoy_interfaces/srv/IncWaveHeight.srv b/buoy_interfaces/srv/IncWaveHeight.srv
new file mode 100644
index 0000000..0a77a83
--- /dev/null
+++ b/buoy_interfaces/srv/IncWaveHeight.srv
@@ -0,0 +1,16 @@
+# IncWaveHeight Request
+
+# x, y to evaluate height
+geometry_msgs/Point[] points
+
+# x, y is relative to buoy origin; otherwise world origin
+bool use_buoy_origin
+
+---
+
+# IncWaveHeight Response
+
+# position = x, y, height
+# orientation = normal vector (slope of wave) at position
+geometry_msgs/Pose[] poses
+bool valid