diff --git a/CHANGELOG.md b/CHANGELOG.md
index 764df26267a5757b4a4f945d9a7d257bcbbb89b6..bfbf7fece5751a58b3155ad3f58951df9081773d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,11 @@
 # CHANGELOG
 
+## 0.7.0 - UNRELEASED
+
+Requires `libfranka` >= 0.5.0
+
+  * Publish `robot_mode` in `franka_state_controller`
+
 ## 0.6.0 - 2018-08-08
 
 Requires `libfranka` >= 0.5.0
diff --git a/franka_control/src/franka_state_controller.cpp b/franka_control/src/franka_state_controller.cpp
index 2e1e510f4bd236a9b63557f9d036d849d350fe61..e6cd440deb381881d301db843ecb6cdc662872a6 100644
--- a/franka_control/src/franka_state_controller.cpp
+++ b/franka_control/src/franka_state_controller.cpp
@@ -330,6 +330,36 @@ void FrankaStateController::publishFrankaStates(const ros::Time& time) {
     publisher_franka_states_.msg_.last_motion_errors =
         errorsToMessage(robot_state_.last_motion_errors);
 
+    switch (robot_state_.robot_mode) {
+      case franka::RobotMode::kOther:
+        publisher_franka_states_.msg_.robot_mode = franka_msgs::FrankaState::ROBOT_MODE_OTHER;
+        break;
+
+      case franka::RobotMode::kIdle:
+        publisher_franka_states_.msg_.robot_mode = franka_msgs::FrankaState::ROBOT_MODE_IDLE;
+        break;
+
+      case franka::RobotMode::kMove:
+        publisher_franka_states_.msg_.robot_mode = franka_msgs::FrankaState::ROBOT_MODE_MOVE;
+        break;
+
+      case franka::RobotMode::kGuiding:
+        publisher_franka_states_.msg_.robot_mode = franka_msgs::FrankaState::ROBOT_MODE_GUIDING;
+        break;
+
+      case franka::RobotMode::kReflex:
+        publisher_franka_states_.msg_.robot_mode = franka_msgs::FrankaState::ROBOT_MODE_REFLEX;
+        break;
+
+      case franka::RobotMode::kUserStopped:
+        publisher_franka_states_.msg_.robot_mode = franka_msgs::FrankaState::ROBOT_MODE_USER_STOPPED;
+        break;
+
+      case franka::RobotMode::kAutomaticErrorRecovery:
+        publisher_franka_states_.msg_.robot_mode = franka_msgs::FrankaState::ROBOT_MODE_AUTOMATIC_ERROR_RECOVERY;
+        break;
+    }
+
     publisher_franka_states_.msg_.header.seq = sequence_number_;
     publisher_franka_states_.msg_.header.stamp = time;
     publisher_franka_states_.unlockAndPublish();
diff --git a/franka_msgs/msg/FrankaState.msg b/franka_msgs/msg/FrankaState.msg
index 7f8f376a1d21fa6166e05ee4952995bbf1b3b2d5..73b234ad1c6f5c34e9dbff1e28616857bfa32953 100644
--- a/franka_msgs/msg/FrankaState.msg
+++ b/franka_msgs/msg/FrankaState.msg
@@ -31,5 +31,13 @@ float64[16] O_T_EE_d
 float64[16] F_T_EE
 float64[16] EE_T_K
 float64 time
+uint8 ROBOT_MODE_OTHER=0
+uint8 ROBOT_MODE_IDLE=1
+uint8 ROBOT_MODE_MOVE=2
+uint8 ROBOT_MODE_GUIDING=3
+uint8 ROBOT_MODE_REFLEX=4
+uint8 ROBOT_MODE_USER_STOPPED=5
+uint8 ROBOT_MODE_AUTOMATIC_ERROR_RECOVERY=6
+uint8 robot_mode
 franka_msgs/Errors current_errors
 franka_msgs/Errors last_motion_errors