diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_utils/CMakeLists.txt b/aichallenge/workspace/src/aichallenge_submit/booars_utils/CMakeLists.txt
new file mode 100644
index 00000000..693dcc12
--- /dev/null
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_utils/CMakeLists.txt
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.5)
+project(booars_utils)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+include_directories(include)
+
+ament_auto_package()
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_utils/package.xml b/aichallenge/workspace/src/aichallenge_submit/booars_utils/package.xml
new file mode 100644
index 00000000..5bb22bbe
--- /dev/null
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_utils/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>booars_utils</name>
+  <version>0.1.0</version>
+  <description>The booars_utils package</description>
+  <maintainer email="harada.akiro@gmail.com">Akiro Harada</maintainer>
+
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>