diff --git a/rmf_fleet_msgs/CMakeLists.txt b/rmf_fleet_msgs/CMakeLists.txt
index 14d7884..a56ff78 100644
--- a/rmf_fleet_msgs/CMakeLists.txt
+++ b/rmf_fleet_msgs/CMakeLists.txt
@@ -38,6 +38,7 @@ set(msg_files
   "msg/ChargingAssignment.msg"
   "msg/ChargingAssignments.msg"
   "msg/MutexGroupAssignment.msg"
+  "msg/MutexGroupManualRelease.msg"
   "msg/MutexGroupRequest.msg"
   "msg/MutexGroupStates.msg"
   "msg/BeaconState.msg"
diff --git a/rmf_fleet_msgs/msg/MutexGroupManualRelease.msg b/rmf_fleet_msgs/msg/MutexGroupManualRelease.msg
new file mode 100644
index 0000000..974d248
--- /dev/null
+++ b/rmf_fleet_msgs/msg/MutexGroupManualRelease.msg
@@ -0,0 +1,11 @@
+# This message allows operators to manually request that a robot release one or
+# more mutex groups that it is currently holding.
+
+# Name of the mutex groups to release
+string[] release_mutex_groups
+
+# The name of the fleet that the robot belongs to
+string fleet
+
+# The name of the robot that needs to release the mutex groups
+string robot