diff --git a/autoware_system_msgs/CMakeLists.txt b/autoware_system_msgs/CMakeLists.txt
new file mode 100644
index 0000000..9e43191
--- /dev/null
+++ b/autoware_system_msgs/CMakeLists.txt
@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.5)
+project(autoware_planning_msgs)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/AutowareState.msg"
+  "msg/HazardStatus.msg"
+  "msg/HazardStatusStamped.msg"
+  DEPENDENCIES
+    geometry_msgs
+    std_msgs
+    unique_identifier_msgs
+    nav_msgs
+    builtin_interfaces
+    diagnostic_msgs
+  ADD_LINTER_TESTS
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()
diff --git a/autoware_system_msgs/msg/AutowareState.msg b/autoware_system_msgs/msg/AutowareState.msg
new file mode 100644
index 0000000..269f15b
--- /dev/null
+++ b/autoware_system_msgs/msg/AutowareState.msg
@@ -0,0 +1,9 @@
+uint8 INITIALIZING = 1
+uint8 WAITING_FOR_ROUTE = 2
+uint8 PLANNING = 3
+uint8 WAITING_FOR_ENGAGE = 4
+uint8 DRIVING = 5
+uint8 ARRIVED_GOAL = 6
+uint8 FINALIZING = 7
+builtin_interfaces/Time stamp
+uint8 state
\ No newline at end of file
diff --git a/autoware_system_msgs/msg/HazardStatus.msg b/autoware_system_msgs/msg/HazardStatus.msg
new file mode 100644
index 0000000..81447ad
--- /dev/null
+++ b/autoware_system_msgs/msg/HazardStatus.msg
@@ -0,0 +1,11 @@
+uint8 NO_FAULT = 0
+uint8 SAFE_FAULT = 1
+uint8 LATENT_FAULT = 2
+uint8 SINGLE_POINT_FAULT = 3
+uint8 level;
+boolean emergency
+boolean emergency_holding
+diagnostic_msgs/DiagnosticStatus[] diag_no_fault
+diagnostic_msgs/DiagnosticStatus[] diag_safe_fault
+diagnostic_msgs/DiagnosticStatus[] diag_latent_fault
+diagnostic_msgs/DiagnosticStatus[] diag_single_point_fault
\ No newline at end of file
diff --git a/autoware_system_msgs/msg/HazardStatusStamped.msg b/autoware_system_msgs/msg/HazardStatusStamped.msg
new file mode 100644
index 0000000..bc4c08a
--- /dev/null
+++ b/autoware_system_msgs/msg/HazardStatusStamped.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_system_msgs/HazardStatus status
\ No newline at end of file
diff --git a/autoware_system_msgs/package.xml b/autoware_system_msgs/package.xml
new file mode 100644
index 0000000..267b15e
--- /dev/null
+++ b/autoware_system_msgs/package.xml
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_planning_msgs</name>
+  <version>0.0.0</version>
+  <description>Autoware planning messages package.</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <depend>builtin_interfaces</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>unique_identifier_msgs</depend>
+  <depend>diagnostic_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>