diff --git a/cmake/gencpp-extras.cmake.em b/cmake/gencpp-extras.cmake.em
index 78025b9..cfe8191 100644
--- a/cmake/gencpp-extras.cmake.em
+++ b/cmake/gencpp-extras.cmake.em
@@ -10,7 +10,7 @@ set(GENCPP_TEMPLATE_DIR "${gencpp_DIR}/..")
 
 # Generate .msg->.h for cpp
 # The generated .h files should be added ALL_GEN_OUTPUT_FILES_cpp
-macro(_generate_msg_cpp ARG_PKG ARG_MSG ARG_IFLAGS ARG_MSG_DEPS ARG_GEN_OUTPUT_DIR)
+macro(_generate_msg_cpp ARG_PKG ARG_MSG ARG_IFLAGS ARG_MSG_DEPS ARG_GEN_OUTPUT_DIR ARG_IS_DEPRECATED)
   file(MAKE_DIRECTORY ${ARG_GEN_OUTPUT_DIR})
 
   #Create input and output filenames
@@ -35,6 +35,10 @@ macro(_generate_msg_cpp ARG_PKG ARG_MSG ARG_IFLAGS ARG_MSG_DEPS ARG_GEN_OUTPUT_D
       set(MSG_PLUGIN)
     endif()
 
+    if(${ARG_IS_DEPRECATED})
+      set(COMMAND_DEPRECATED_FLAG "-d")
+    endif()
+
     assert(CATKIN_ENV)
     add_custom_command(OUTPUT ${GEN_OUTPUT_FILE}
       DEPENDS ${GENCPP_BIN} ${ARG_MSG} ${ARG_MSG_DEPS} ${MSG_PLUGIN} "${GENCPP_TEMPLATE_DIR}/msg.h.template" ${ARGN}
@@ -43,6 +47,7 @@ macro(_generate_msg_cpp ARG_PKG ARG_MSG ARG_IFLAGS ARG_MSG_DEPS ARG_GEN_OUTPUT_D
       -p ${ARG_PKG}
       -o ${ARG_GEN_OUTPUT_DIR}
       -e ${GENCPP_TEMPLATE_DIR}
+      ${COMMAND_DEPRECATED_FLAG}
       COMMENT "Generating C++ code from ${ARG_PKG}/${MSG_NAME}"
       WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
       )
@@ -53,8 +58,8 @@ macro(_generate_msg_cpp ARG_PKG ARG_MSG ARG_IFLAGS ARG_MSG_DEPS ARG_GEN_OUTPUT_D
 endmacro()
 
 #gencpp uses the same program to generate srv and msg files, so call the same macro
-macro(_generate_srv_cpp ARG_PKG ARG_SRV ARG_IFLAGS ARG_MSG_DEPS ARG_GEN_OUTPUT_DIR)
-  _generate_msg_cpp(${ARG_PKG} ${ARG_SRV} "${ARG_IFLAGS}" "${ARG_MSG_DEPS}" ${ARG_GEN_OUTPUT_DIR} "${GENCPP_TEMPLATE_DIR}/srv.h.template")
+macro(_generate_srv_cpp ARG_PKG ARG_SRV ARG_IFLAGS ARG_MSG_DEPS ARG_GEN_OUTPUT_DIR ARG_IS_DEPRECATED)
+  _generate_msg_cpp(${ARG_PKG} ${ARG_SRV} "${ARG_IFLAGS}" "${ARG_MSG_DEPS}" ${ARG_GEN_OUTPUT_DIR} ${ARG_IS_DEPRECATED} "${GENCPP_TEMPLATE_DIR}/srv.h.template")
 endmacro()
 
 macro(_generate_module_cpp)
diff --git a/scripts/msg.h.template b/scripts/msg.h.template
index 7be03f2..9024918 100644
--- a/scripts/msg.h.template
+++ b/scripts/msg.h.template
@@ -11,6 +11,7 @@
 @#  - file_name_in (String) Source file
 @#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
 @#  - md5sum (String) MD5Sum of the .msg specification
+@#  - is_deprecated (Boolean) Flag for deprecated message
 @###############################################
 // Generated by gencpp from file @(spec.package)/@(spec.short_name).msg
 // DO NOT EDIT!
@@ -64,6 +65,13 @@ for field in spec.parsed_fields():
 #include <@(spec.package)/plugin/@(spec.short_name).h>
 @[end if]@
 
+@##############################
+@# Deprecation Warning
+@##############################
+@[if is_deprecated]@
+#warning "ROS message @(spec.package)/@(spec.short_name).msg is deprecated. Please stop using it."
+@[end if]@
+
 namespace @(spec.package)
 {
 template <class ContainerAllocator>
diff --git a/scripts/srv.h.template b/scripts/srv.h.template
index d79a1c5..3ea7abe 100644
--- a/scripts/srv.h.template
+++ b/scripts/srv.h.template
@@ -11,6 +11,7 @@
 @#  - file_name_in (String) Source .srv file
 @#  - spec (msggen.SrvSpec) Parsed specification of the .srv file
 @#  - md5sum (String) MD5Sum of the .srv specification
+@#  - is_deprecated (Boolean) Flag for deprecated service
 @###############################################
 // Generated by gencpp from file @(spec.package)/@(spec.short_name).msg
 // DO NOT EDIT!
@@ -33,6 +34,13 @@ cpp_full_name = cpp_namespace+cpp_class
 #include <@(spec.package)/@(spec.short_name)Request.h>
 #include <@(spec.package)/@(spec.short_name)Response.h>
 
+@##############################
+@# Deprecation Warning
+@##############################
+@[if is_deprecated]@
+#warning "ROS service @(spec.package)/@(spec.short_name).srv is deprecated. Please stop using it."
+@[end if]@
+
 @###############################################
 @# Service Struct
 @###############################################