diff --git a/autoware_planning_msgs/CMakeLists.txt b/autoware_planning_msgs/CMakeLists.txt
index 156dd80..84ba924 100644
--- a/autoware_planning_msgs/CMakeLists.txt
+++ b/autoware_planning_msgs/CMakeLists.txt
@@ -15,6 +15,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/PathPoint.msg"
   "msg/PathWithLaneId.msg"
   "msg/PathPointWithLaneId.msg"
+  "msg/MissionRemainingDistanceTime.msg"
   DEPENDENCIES
     geometry_msgs
     std_msgs
diff --git a/autoware_planning_msgs/msg/MissionRemainingDistanceTime.msg b/autoware_planning_msgs/msg/MissionRemainingDistanceTime.msg
new file mode 100644
index 0000000..b5681c5
--- /dev/null
+++ b/autoware_planning_msgs/msg/MissionRemainingDistanceTime.msg
@@ -0,0 +1,7 @@
+# Information about the mission remaining distance and time.
+
+float64 remaining_distance    # Remaining distance in meters
+float64 remaining_time        # Remaining total time in seconds
+uint32 remaining_hours        # Remaining hours
+uint32 remaining_minutes      # Remaining minutes
+uint32 remaining_seconds      # Remaining seconds