diff --git a/files_in_srpm.txt b/files_in_srpm.txt
new file mode 100644
index 0000000000000000000000000000000000000000..642ce39c2bc643104e03fffc21f4f0ee7d844b0d
--- /dev/null
+++ b/files_in_srpm.txt
@@ -0,0 +1,2 @@
+hri-actions-msgs.spec
+ros-humble-hri-actions-msgs_2.2.0.orig.tar.gz
diff --git a/hri_actions_msgs.spec b/hri_actions_msgs.spec
new file mode 100644
index 0000000000000000000000000000000000000000..a78bdb8f2136148670f4234c17cfda5f158c011e
--- /dev/null
+++ b/hri_actions_msgs.spec
@@ -0,0 +1,110 @@
+%bcond_without tests
+%bcond_without weak_deps
+
+%global debug_package %{nil}
+%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
+%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
+%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$
+
+%define RosPkgName      hri-actions-msgs
+%define ros_distro      humble
+%define with_tests 0
+
+Name:           ros-%{ros_distro}-%{RosPkgName}
+Version:        2.2.0
+Release:        1%{?dist}%{?release_suffix}
+Summary:        ROS hri-actions-msgs package
+
+License:        BSD
+Source0:        %{name}_%{version}.orig.tar.gz
+
+Requires: ros-%{ros_distro}-action-msgs
+Requires: ros-%{ros_distro}-builtin-interfaces
+Requires: ros-%{ros_distro}-geometry-msgs
+Requires: ros-%{ros_distro}-std-msgs
+Requires: ros-%{ros_distro}-rosidl-default-runtime
+
+BuildRequires: ros-%{ros_distro}-action-msgs
+BuildRequires: ros-%{ros_distro}-builtin-interfaces
+BuildRequires: ros-%{ros_distro}-geometry-msgs
+BuildRequires: ros-%{ros_distro}-std-msgs
+BuildRequires: ros-%{ros_distro}-ament-cmake
+BuildRequires: ros-%{ros_distro}-rosidl-default-generators
+
+%if 0%{?with_tests}
+%endif
+
+Provides:       %{name}-devel = %{version}-%{release}
+Provides:       %{name}-doc = %{version}-%{release}
+Provides:       %{name}-runtime = %{version}-%{release}
+
+%description
+Action definitions useful for Human-Robot Interaction
+Action definitions useful for Human-Robot Interaction
+
+%prep
+%autosetup -p1
+
+%build
+# Needed to bootstrap since the ros_workspace package does not yet exist.
+export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages
+
+export ROS_DISTRO=%{ros_distro}
+export ROS_PYTHON_VERSION=%{python3_version}
+
+# In case we're installing to a non-standard location, look for a setup.sh
+# in the install tree and source it.  It will set things like
+# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
+if [ -f "/opt/ros/%{ros_distro}/setup.sh" ]; then . "/opt/ros/%{ros_distro}/setup.sh"; fi
+mkdir -p .obj-%{_target_platform} && cd .obj-%{_target_platform}
+%cmake3 \
+    -UINCLUDE_INSTALL_DIR \
+    -ULIB_INSTALL_DIR \
+    -USYSCONF_INSTALL_DIR \
+    -USHARE_INSTALL_PREFIX \
+    -ULIB_SUFFIX \
+    -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
+    -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \
+    -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \
+    -DCMAKE_INSTALL_LIBDIR="/opt/ros/%{ros_distro}/lib" \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+%if !0%{?with_tests}
+    -DBUILD_TESTING=OFF \
+%endif
+    ..
+
+%make_build
+
+%install
+# Needed to bootstrap since the ros_workspace package does not yet exist.
+export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages
+
+# In case we're installing to a non-standard location, look for a setup.sh
+# in the install tree and source it.  It will set things like
+# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
+if [ -f "/opt/ros/%{ros_distro}/setup.sh" ]; then . "/opt/ros/%{ros_distro}/setup.sh"; fi
+%make_install -C .obj-%{_target_platform}
+
+%if 0%{?with_tests}
+%check
+# Needed to bootstrap since the ros_workspace package does not yet exist.
+export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages
+
+# Look for a Makefile target with a name indicating that it runs tests
+TEST_TARGET=$(%__make -qp -C .obj-%{_target_platform} | sed "s/^\(test\|check\):.*/\\1/;t f;d;:f;q0")
+if [ -n "$TEST_TARGET" ]; then
+# In case we're installing to a non-standard location, look for a setup.sh
+# in the install tree and source it.  It will set things like
+# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
+if [ -f "/opt/ros/%{ros_distro}/setup.sh" ]; then . "/opt/ros/%{ros_distro}/setup.sh"; fi
+CTEST_OUTPUT_ON_FAILURE=1 \
+    %make_build -C .obj-%{_target_platform} $TEST_TARGET || echo "RPM TESTS FAILED"
+else echo "RPM TESTS SKIPPED"; fi
+%endif
+
+%files
+/opt/ros/%{ros_distro}
+
+%changelog
+* Fri May 23 2025 Séverin Lemaignan severin.lemaignan@pal-robotics.com - 2.2.0-1
+- Autogenerated by ros-porting-tools
diff --git a/hri_actions_msgs.src.rpm b/hri_actions_msgs.src.rpm
new file mode 100644
index 0000000000000000000000000000000000000000..6f907d714e606b619dd94be14f988bcabc8b683f
Binary files /dev/null and b/hri_actions_msgs.src.rpm differ
diff --git a/ros-humble-hri-actions-msgs_2.2.0.orig.tar.gz b/ros-humble-hri-actions-msgs_2.2.0.orig.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..f73e446743d91c625adbd5686144faaaaa4eea68
Binary files /dev/null and b/ros-humble-hri-actions-msgs_2.2.0.orig.tar.gz differ