diff --git a/robotino_msgs/CMakeLists.txt b/robotino_msgs/CMakeLists.txt
index 5543a3a..7e09017 100644
--- a/robotino_msgs/CMakeLists.txt
+++ b/robotino_msgs/CMakeLists.txt
@@ -65,6 +65,7 @@ add_message_files(
 add_service_files(
         FILES
         ResetOdometry.srv
+        SetCompressorsEnabled.srv
         SetEncoderPosition.srv
         SetGripperState.srv
         Grip.srv
diff --git a/robotino_msgs/msg/BHAReadings.msg b/robotino_msgs/msg/BHAReadings.msg
index 703dc18..dd14be6 100644
--- a/robotino_msgs/msg/BHAReadings.msg
+++ b/robotino_msgs/msg/BHAReadings.msg
@@ -1,3 +1,5 @@
 time stamp
 float32[] pressures	# in bar
-float32[] cablepull
\ No newline at end of file
+bool pressureSensor
+float32[] stringPots
+float32 foilPot
diff --git a/robotino_msgs/srv/SetCompressorsEnabled.srv b/robotino_msgs/srv/SetCompressorsEnabled.srv
new file mode 100644
index 0000000..d0f476b
--- /dev/null
+++ b/robotino_msgs/srv/SetCompressorsEnabled.srv
@@ -0,0 +1,2 @@
+bool enable
+---
diff --git a/robotino_node/include/CompactBHAROS.h b/robotino_node/include/CompactBHAROS.h
index cfa4d3e..d14ed8d 100644
--- a/robotino_node/include/CompactBHAROS.h
+++ b/robotino_node/include/CompactBHAROS.h
@@ -13,6 +13,7 @@
 #include <ros/ros.h>
 #include "robotino_msgs/BHAReadings.h"
 #include "robotino_msgs/SetBHAPressures.h"
+#include "robotino_msgs/SetCompressorsEnabled.h"
 
 class CompactBHAROS : public rec::robotino::api2::CompactBHA
 {
@@ -29,14 +30,28 @@ class CompactBHAROS : public rec::robotino::api2::CompactBHA
 
 	ros::Publisher bha_pub_;
 
-	robotino_msgs::BHAReadings bha_msg_;
+    ros::ServiceServer set_compressor_enabled_server_;
+
+	/* TODO(vcoelen) : add these functionnalities (cf CompactBHA.h in API2 source)
+	setWaterDrainValve
+	setGripperValve1
+	setGripperValve2
+	*/
+
+    robotino_msgs::BHAReadings bha_msg_;
 
 	ros::Time stamp_;
 
 	void pressuresChangedEvent( const float* pressures, unsigned int size );
-	void cablepullChangedEvent( const float* cablepull, unsigned int size );
+	void pressureSensorChangedEvent( bool pressureSensor );
+	void stringPotsChangedEvent( const float* readings, unsigned int size );
+	void foilPotChangedEvent( float value );
 
 	void setBHAPressuresCallback( const robotino_msgs::SetBHAPressuresConstPtr &msg);
+
+	bool setCompressorsEnabledService(
+		robotino_msgs::SetCompressorsEnabled::Request &req,
+		robotino_msgs::SetCompressorsEnabled::Response &res);
 };
 
 #endif /* COMPACTBHAROS_H_ */
diff --git a/robotino_node/src/CompactBHAROS.cpp b/robotino_node/src/CompactBHAROS.cpp
index 61fa6b6..228f402 100644
--- a/robotino_node/src/CompactBHAROS.cpp
+++ b/robotino_node/src/CompactBHAROS.cpp
@@ -11,6 +11,8 @@ CompactBHAROS::CompactBHAROS()
 {
 	bha_pub_ = nh_.advertise<robotino_msgs::BHAReadings>("bha_readings", 1, true);
 	bha_sub_ = nh_.subscribe("set_bha_pressures", 1, &CompactBHAROS::setBHAPressuresCallback, this);
+	set_compressor_enabled_server_ = nh_.advertiseService("set_compressor_enabled",
+			&CompactBHAROS::setCompressorsEnabledService, this);
 }
 
 CompactBHAROS::~CompactBHAROS()
@@ -35,19 +37,30 @@ void CompactBHAROS::pressuresChangedEvent( const float* pressures, unsigned int
 	}
 }
 
-void CompactBHAROS::cablepullChangedEvent( const float* cablepull, unsigned int size )
+void CompactBHAROS::pressureSensorChangedEvent( bool pressureSensor )
+{
+	bha_msg_.pressureSensor = pressureSensor;
+}
+
+void CompactBHAROS::stringPotsChangedEvent( const float* readings, unsigned int size )
 {
 	// Build the BHAReadings msg
-	bha_msg_.cablepull.resize( size, 0.0 );
-	if( cablepull != NULL )
+	bha_msg_.stringPots.resize( size, 0.0 );
+	if( readings != NULL )
 	{
-		memcpy( bha_msg_.cablepull.data(), cablepull, size * sizeof(float) );
+		memcpy( bha_msg_.stringPots.data(), readings, size * sizeof(float) );
 	}
 
 	// Publish the msg
 	bha_pub_.publish( bha_msg_ );
 }
 
+void CompactBHAROS::foilPotChangedEvent( float value )
+{
+	bha_msg_.foilPot = value;
+}
+
+
 void CompactBHAROS::setBHAPressuresCallback(const robotino_msgs::SetBHAPressuresConstPtr &msg)
 {
 	float pressures[8];
@@ -62,3 +75,14 @@ void CompactBHAROS::setBHAPressuresCallback(const robotino_msgs::SetBHAPressures
 		setPressures( pressures );
 	}
 }
+
+
+
+
+bool CompactBHAROS::setCompressorsEnabledService(
+	robotino_msgs::SetCompressorsEnabled::Request &req,
+	robotino_msgs::SetCompressorsEnabled::Response &res)
+{
+	setCompressorsEnabled( req.enable );
+	return true;
+}