diff --git a/autoware_vehicle_msgs/CMakeLists.txt b/autoware_vehicle_msgs/CMakeLists.txt
new file mode 100644
index 0000000..76e4bed
--- /dev/null
+++ b/autoware_vehicle_msgs/CMakeLists.txt
@@ -0,0 +1,37 @@
+# All rights reserved.
+cmake_minimum_required(VERSION 3.5)
+
+### Export headers
+project(autoware_vehicle_msgs)
+
+# Generate messages
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+    "msg/ControlModeCommand.msg"
+    "msg/ControlModeReport.msg"
+    "msg/Engage.msg"
+    "msg/GearCommand.msg"
+    "msg/GearReport.msg"
+    "msg/HazardLightsCommand.msg"
+    "msg/HazardLightsReport.msg"
+    "msg/SteeringReport.msg"
+    "msg/TurnIndicatorsCommand.msg"
+    "msg/TurnIndicatorsReport.msg"
+    "msg/VehicleOdometry.msg"
+    "msg/VelocityReport.msg"
+    "srv/ControlModeCommand.srv"
+  DEPENDENCIES
+    "autoware_planning_msgs"
+    "builtin_interfaces"
+    "std_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_vehicle_msgs/msg/ControlModeCommand.msg b/autoware_vehicle_msgs/msg/ControlModeCommand.msg
new file mode 100644
index 0000000..19f9320
--- /dev/null
+++ b/autoware_vehicle_msgs/msg/ControlModeCommand.msg
@@ -0,0 +1,6 @@
+uint8 NO_COMMAND = 0
+uint8 AUTONOMOUS = 1
+uint8 MANUAL = 2
+
+builtin_interfaces/Time stamp
+uint8 mode
diff --git a/autoware_vehicle_msgs/msg/ControlModeReport.msg b/autoware_vehicle_msgs/msg/ControlModeReport.msg
new file mode 100644
index 0000000..874d540
--- /dev/null
+++ b/autoware_vehicle_msgs/msg/ControlModeReport.msg
@@ -0,0 +1,10 @@
+uint8 NO_COMMAND = 0
+uint8 AUTONOMOUS = 1
+uint8 AUTONOMOUS_STEER_ONLY = 2
+uint8 AUTONOMOUS_VELOCITY_ONLY = 3
+uint8 MANUAL = 4
+uint8 DISENGAGED = 5
+uint8 NOT_READY = 6
+
+builtin_interfaces/Time stamp
+uint8 mode
diff --git a/autoware_vehicle_msgs/msg/Engage.msg b/autoware_vehicle_msgs/msg/Engage.msg
new file mode 100644
index 0000000..c5fe7dc
--- /dev/null
+++ b/autoware_vehicle_msgs/msg/Engage.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+bool engage
diff --git a/autoware_vehicle_msgs/msg/GearCommand.msg b/autoware_vehicle_msgs/msg/GearCommand.msg
new file mode 100644
index 0000000..79c1bc8
--- /dev/null
+++ b/autoware_vehicle_msgs/msg/GearCommand.msg
@@ -0,0 +1,28 @@
+uint8 NONE = 0
+uint8 NEUTRAL = 1
+uint8 DRIVE = 2
+uint8 DRIVE_2 = 3
+uint8 DRIVE_3 = 4
+uint8 DRIVE_4 = 5
+uint8 DRIVE_5 = 6
+uint8 DRIVE_6 = 7
+uint8 DRIVE_7 = 8
+uint8 DRIVE_8 = 9
+uint8 DRIVE_9 = 10
+uint8 DRIVE_10 = 11
+uint8 DRIVE_11 = 12
+uint8 DRIVE_12 = 13
+uint8 DRIVE_13 = 14
+uint8 DRIVE_14 = 15
+uint8 DRIVE_15 = 16
+uint8 DRIVE_16 = 17
+uint8 DRIVE_17 = 18
+uint8 DRIVE_18 = 19
+uint8 REVERSE = 20
+uint8 REVERSE_2 = 21
+uint8 PARK = 22
+uint8 LOW = 23
+uint8 LOW_2 = 24
+
+builtin_interfaces/Time stamp
+uint8 command
diff --git a/autoware_vehicle_msgs/msg/GearReport.msg b/autoware_vehicle_msgs/msg/GearReport.msg
new file mode 100644
index 0000000..82e4c53
--- /dev/null
+++ b/autoware_vehicle_msgs/msg/GearReport.msg
@@ -0,0 +1,28 @@
+uint8 NONE = 0
+uint8 NEUTRAL = 1
+uint8 DRIVE = 2
+uint8 DRIVE_2 = 3
+uint8 DRIVE_3 = 4
+uint8 DRIVE_4 = 5
+uint8 DRIVE_5 = 6
+uint8 DRIVE_6 = 7
+uint8 DRIVE_7 = 8
+uint8 DRIVE_8 = 9
+uint8 DRIVE_9 = 10
+uint8 DRIVE_10 = 11
+uint8 DRIVE_11 = 12
+uint8 DRIVE_12 = 13
+uint8 DRIVE_13 = 14
+uint8 DRIVE_14 = 15
+uint8 DRIVE_15 = 16
+uint8 DRIVE_16 = 17
+uint8 DRIVE_17 = 18
+uint8 DRIVE_18 = 19
+uint8 REVERSE = 20
+uint8 REVERSE_2 = 21
+uint8 PARK = 22
+uint8 LOW = 23
+uint8 LOW_2 = 24
+
+builtin_interfaces/Time stamp
+uint8 report
diff --git a/autoware_vehicle_msgs/msg/HazardLightsCommand.msg b/autoware_vehicle_msgs/msg/HazardLightsCommand.msg
new file mode 100644
index 0000000..8bd5a9d
--- /dev/null
+++ b/autoware_vehicle_msgs/msg/HazardLightsCommand.msg
@@ -0,0 +1,6 @@
+uint8 NO_COMMAND = 0
+uint8 DISABLE = 1
+uint8 ENABLE = 2
+
+builtin_interfaces/Time stamp
+uint8 command
diff --git a/autoware_vehicle_msgs/msg/HazardLightsReport.msg b/autoware_vehicle_msgs/msg/HazardLightsReport.msg
new file mode 100644
index 0000000..c64d225
--- /dev/null
+++ b/autoware_vehicle_msgs/msg/HazardLightsReport.msg
@@ -0,0 +1,5 @@
+uint8 DISABLE = 1
+uint8 ENABLE = 2
+
+builtin_interfaces/Time stamp
+uint8 report
diff --git a/autoware_vehicle_msgs/msg/SteeringReport.msg b/autoware_vehicle_msgs/msg/SteeringReport.msg
new file mode 100644
index 0000000..6c13fbf
--- /dev/null
+++ b/autoware_vehicle_msgs/msg/SteeringReport.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+float32 steering_tire_angle
diff --git a/autoware_vehicle_msgs/msg/TurnIndicatorsCommand.msg b/autoware_vehicle_msgs/msg/TurnIndicatorsCommand.msg
new file mode 100644
index 0000000..e859fc5
--- /dev/null
+++ b/autoware_vehicle_msgs/msg/TurnIndicatorsCommand.msg
@@ -0,0 +1,7 @@
+uint8 NO_COMMAND = 0
+uint8 DISABLE = 1
+uint8 ENABLE_LEFT = 2
+uint8 ENABLE_RIGHT = 3
+
+builtin_interfaces/Time stamp
+uint8 command
diff --git a/autoware_vehicle_msgs/msg/TurnIndicatorsReport.msg b/autoware_vehicle_msgs/msg/TurnIndicatorsReport.msg
new file mode 100644
index 0000000..f1ba0d8
--- /dev/null
+++ b/autoware_vehicle_msgs/msg/TurnIndicatorsReport.msg
@@ -0,0 +1,6 @@
+uint8 DISABLE = 1
+uint8 ENABLE_LEFT = 2
+uint8 ENABLE_RIGHT = 3
+
+builtin_interfaces/Time stamp
+uint8 report
diff --git a/autoware_vehicle_msgs/msg/VehicleOdometry.msg b/autoware_vehicle_msgs/msg/VehicleOdometry.msg
new file mode 100644
index 0000000..7ffcd83
--- /dev/null
+++ b/autoware_vehicle_msgs/msg/VehicleOdometry.msg
@@ -0,0 +1,4 @@
+builtin_interfaces/Time stamp
+float32 velocity_mps
+float32 front_wheel_angle_rad
+float32 rear_wheel_angle_rad
diff --git a/autoware_vehicle_msgs/msg/VelocityReport.msg b/autoware_vehicle_msgs/msg/VelocityReport.msg
new file mode 100644
index 0000000..ca99fc4
--- /dev/null
+++ b/autoware_vehicle_msgs/msg/VelocityReport.msg
@@ -0,0 +1,4 @@
+std_msgs/Header header
+float32 longitudinal_velocity
+float32 lateral_velocity
+float32 heading_rate
diff --git a/autoware_vehicle_msgs/package.xml b/autoware_vehicle_msgs/package.xml
new file mode 100644
index 0000000..e2d992c
--- /dev/null
+++ b/autoware_vehicle_msgs/package.xml
@@ -0,0 +1,27 @@
+<?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_vehicle_msgs</name>
+  <version>1.0.0</version>
+  <description>Interfaces between core Autoware.Auto vehicle components</description>
+  <maintainer email="beginning.fan@autocore.ai">Apex.AI, Inc.</maintainer>
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>autoware_planning_msgs</depend>
+  <depend>builtin_interfaces</depend>
+  <depend>std_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>
diff --git a/autoware_vehicle_msgs/srv/ControlModeCommand.srv b/autoware_vehicle_msgs/srv/ControlModeCommand.srv
new file mode 100644
index 0000000..988a7a6
--- /dev/null
+++ b/autoware_vehicle_msgs/srv/ControlModeCommand.srv
@@ -0,0 +1,12 @@
+uint8 NO_COMMAND = 0
+uint8 AUTONOMOUS = 1
+uint8 AUTONOMOUS_STEER_ONLY = 2
+uint8 AUTONOMOUS_VELOCITY_ONLY = 3
+uint8 MANUAL = 4
+
+builtin_interfaces/Time stamp
+uint8 mode
+
+---
+
+bool success