diff --git a/rosrust/Cargo.toml b/rosrust/Cargo.toml
index aa7ccab..7d29d25 100644
--- a/rosrust/Cargo.toml
+++ b/rosrust/Cargo.toml
@@ -29,6 +29,9 @@ regex = "1.3.1"
 criterion = "0.3.0"
 env_logger = "0.7.1"
 
+[features]
+derive-serde = ["rosrust_codegen/derive-serde"]
+
 [[bench]]
 name = "benchmarks"
 harness = false
diff --git a/rosrust_codegen/Cargo.toml b/rosrust_codegen/Cargo.toml
index 6df22e3..e7a93f5 100644
--- a/rosrust_codegen/Cargo.toml
+++ b/rosrust_codegen/Cargo.toml
@@ -8,6 +8,11 @@ readme = "README.md"
 repository = "https://github.com/adnanademovic/rosrust"
 version = "0.9.3"
 
+
+[features]
+derive-serde = ["serde"]
+
+
 [dependencies]
 error-chain = "0.12.1"
 lazy_static = "1.4.0"
@@ -19,5 +24,10 @@ digest = "0.8.1"
 md-5 = "0.8.0"
 hex = "0.4.0"
 
+[dependencies.serde]
+serde = "1.0"
+
+
+
 [lib]
 proc-macro = true
diff --git a/rosrust_codegen/src/lib.rs b/rosrust_codegen/src/lib.rs
index 4cfebe2..250788e 100644
--- a/rosrust_codegen/src/lib.rs
+++ b/rosrust_codegen/src/lib.rs
@@ -2,6 +2,9 @@
 
 extern crate proc_macro;
 
+#[cfg(feature="derive-serde")]
+use serde;
+
 mod error;
 mod genmsg;
 mod helpers;
diff --git a/rosrust_codegen/src/msg.rs b/rosrust_codegen/src/msg.rs
index 105855b..a38ac4f 100644
--- a/rosrust_codegen/src/msg.rs
+++ b/rosrust_codegen/src/msg.rs
@@ -64,8 +64,16 @@ impl Msg {
             .iter()
             .map(|v| v.const_token_stream(crate_prefix))
             .collect::<Vec<_>>();
+
+        let serde_derives = if cfg!(feature = "derive-serde") {
+            quote! { #[derive(::serde::Serialize, ::serde::Deserialize)] }
+        } else {
+            quote! {}
+        };
+
         quote! {
             #[allow(dead_code, non_camel_case_types, non_snake_case)]
+            #serde_derives
             #[derive(Clone)]
             pub struct #name {
                 #(#fields)*
@@ -387,6 +395,7 @@ fn match_lines(data: &str) -> Result<Vec<FieldInfo>> {
         .chain_err(|| "Failed to parse line in data string")
 }
 
+#[cfg_attr(feature = "derive-serde", derive(::serde::Serialize, ::serde::Deserialize))]
 #[derive(Debug, PartialEq)]
 struct FieldLine {
     field_type: String,
diff --git a/rosrust_codegen/src/output_layout.rs b/rosrust_codegen/src/output_layout.rs
index ff88491..960d3ca 100644
--- a/rosrust_codegen/src/output_layout.rs
+++ b/rosrust_codegen/src/output_layout.rs
@@ -130,8 +130,15 @@ impl Service {
         let req_ident = Ident::new(&format!("{}Req", name), Span::call_site());
         let res_ident = Ident::new(&format!("{}Res", name), Span::call_site());
 
+        let serde_derives = if cfg!(feature = "derive-serde") {
+            quote! { #[derive(::serde::Serialize, ::serde::Deserialize)] }
+        } else {
+            quote! {}
+        };
+
         quote! {
             #[allow(dead_code,non_camel_case_types,non_snake_case)]
+            #serde_derives
             #[derive(Clone, Debug, Default, PartialEq)]
             pub struct #name_ident;