diff --git a/r2r/src/msg_types.rs b/r2r/src/msg_types.rs
index 96d2141..dbd2557 100644
--- a/r2r/src/msg_types.rs
+++ b/r2r/src/msg_types.rs
@@ -770,4 +770,14 @@ mod tests {
         // the message should contain something (default msg)
         assert!(!json_request.to_string().is_empty());
     }
+
+
+    #[cfg(r2r__action_msgs__msg__GoalStatus)]
+    #[test]
+    fn test_msg_constants() {
+        use action_msgs::msg::GoalStatus;
+        let gs = GoalStatus::default();
+
+        assert_eq!(gs.status, GoalStatus::STATUS_UNKNOWN as i8);
+    }
 }
diff --git a/r2r_msg_gen/build.rs b/r2r_msg_gen/build.rs
index 7d8ab58..f28445d 100644
--- a/r2r_msg_gen/build.rs
+++ b/r2r_msg_gen/build.rs
@@ -4,13 +4,16 @@ use r2r_common::RosMsg;
 use std::fs::OpenOptions;
 use std::path::{Path, PathBuf};
 use std::{env, fs};
+use std::collections::HashMap;
 
 const MSG_INCLUDES_FILENAME: &str = "msg_includes.h";
 const INTROSPECTION_FILENAME: &str = "introspection_functions.rs";
+const CONSTANTS_FILENAME: &str = "constants.rs";
 const BINDINGS_FILENAME: &str = "msg_bindings.rs";
 const GENERATED_FILES: &[&str] = &[
     MSG_INCLUDES_FILENAME,
     INTROSPECTION_FILENAME,
+    CONSTANTS_FILENAME,
     BINDINGS_FILENAME,
 ];
 
@@ -76,6 +79,7 @@ fn run_bindgen(msg_list: &[RosMsg]) {
 fn generate_bindings(bindgen_dir: &Path, msg_list: &[RosMsg]) {
     let msg_includes_file = bindgen_dir.join(MSG_INCLUDES_FILENAME);
     let introspection_file = bindgen_dir.join(INTROSPECTION_FILENAME);
+    let constants_file = bindgen_dir.join(CONSTANTS_FILENAME);
     let bindings_file = bindgen_dir.join(BINDINGS_FILENAME);
 
     let mut includes = String::new();
@@ -170,6 +174,55 @@ fn generate_bindings(bindgen_dir: &Path, msg_list: &[RosMsg]) {
 
     let bindings = builder.generate().expect("Unable to generate bindings");
 
+    // Let's add a hack to generate constants.
+    let str_bindings = bindings.to_string();
+    // find all lines which look suspiciosly like a constant.
+    let mut constants: HashMap<String, Vec<(String,String)>> = HashMap::new();
+    for msg in msg_list {
+        let prefix = &format!("pub const {}__{}__{}__", &msg.module, &msg.prefix, &msg.name);
+        let mut lines = str_bindings.lines();
+        while let Some(line) = lines.next() {
+            if let Some(constant) = line.strip_prefix(prefix) {
+                if let Some((con, typ)) = constant.split_once(":") {
+                    // These are generated automatically for arrays and strings, we don't need to expose them.
+                    if con.ends_with("__MAX_SIZE") || con.ends_with("__MAX_STRING_SIZE") {
+                        continue;
+                    }
+                    let key = format!("{}__{}__{}", msg.module, msg.prefix, msg.name);
+                    if let Some((t, _)) = typ.split_once("=") {
+                        constants.entry(key).or_default().push((con.to_string(), t.trim().to_string()));
+                    } else if let Some(next_line) = lines.next() {
+                        // type has moved down to the next line. (bindgen has a max line width)
+                        if let Some((t, _)) = next_line.split_once("=") {
+                            constants.entry(key).or_default().push((con.to_string(), t.trim().to_string()));
+                        } else {
+                            panic!("Code generation failure. Type not found in line! {}", next_line);
+                        }
+                    } else {
+                        panic!("Code generation failure. Type not found in line! {}", line);
+                    }
+                }
+            }
+        }
+    }
+    // generate a constant which holds all constants.
+    let mut constants_map = String::from(
+        "\
+        lazy_static! {
+           static ref CONSTANTS_MAP: HashMap<&'static str, Vec<(String,String)>> = {
+             let mut m = HashMap::new();\
+");
+    for (msg,msg_constants) in constants {
+        let msg_constants_str = format!("vec![{}]",
+                                        msg_constants.iter()
+                                        .map(|(c,t)| format!("(\"{c}\".to_string(), \"{t}\".to_string())"))
+                                        .collect::<Vec<String>>().join(","));
+
+        constants_map.push_str(&format!("m.insert(\"{}\", {});\n", msg, msg_constants_str));
+    }
+    constants_map.push_str("m \n }; }\n\n");
+    fs::write(&constants_file, constants_map).unwrap();
+
     bindings
         .write_to_file(bindings_file)
         .expect("Couldn't write bindings!");
diff --git a/r2r_msg_gen/src/lib.rs b/r2r_msg_gen/src/lib.rs
index 8c730ee..a4c9bd8 100644
--- a/r2r_msg_gen/src/lib.rs
+++ b/r2r_msg_gen/src/lib.rs
@@ -6,6 +6,7 @@
 #![allow(clippy::all)]
 include!(concat!(env!("OUT_DIR"), "/msg_bindings.rs"));
 include!(concat!(env!("OUT_DIR"), "/introspection_functions.rs"));
+include!(concat!(env!("OUT_DIR"), "/constants.rs"));
 
 #[macro_use]
 extern crate lazy_static;
@@ -602,6 +603,23 @@ pub fn generate_rust_msg(module_: &str, prefix_: &str, name_: &str) -> String {
             msgname = name
         );
 
+
+        let constants = CONSTANTS_MAP.get(key.as_str()).cloned().unwrap_or_default();
+        let mut constant_strings = vec![];
+        for (c, typ) in constants {
+            constant_strings.push(format!("  pub const {c}: {typ} = {key}__{c};"));
+        }
+        let impl_constants = format!("
+                          #[allow(non_upper_case_globals)]
+                          impl {msgname} {{
+                              {constants}
+                          }}
+             ",
+            msgname = name,
+            constants = constant_strings.join("\n")
+        );
+
+
         let module_str = format!(
             "
                           #[derive(Clone,Debug,PartialEq,Serialize,Deserialize)]
@@ -610,12 +628,14 @@ pub fn generate_rust_msg(module_: &str, prefix_: &str, name_: &str) -> String {
                               {fields}
                           }}\n
                           {typesupport}\n
-                          {default}\n\n
+                          {default}\n
+                          {constants}\n\n
                     ",
             msgname = name,
             fields = fields,
             typesupport = typesupport,
-            default = impl_default
+            default = impl_default,
+            constants = impl_constants,
         );
 
         module_str