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/include/booars_utils/ros/function_timer.hpp b/aichallenge/workspace/src/aichallenge_submit/booars_utils/include/booars_utils/ros/function_timer.hpp
new file mode 100644
index 00000000..56935e23
--- /dev/null
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_utils/include/booars_utils/ros/function_timer.hpp
@@ -0,0 +1,52 @@
+// Copyright 2024 Booars
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef BOOARS_UTILS__ROS__FUNCTION_TIMER_HPP_
+#define BOOARS_UTILS__ROS__FUNCTION_TIMER_HPP_
+
+#include <memory>
+#include <rclcpp/rclcpp.hpp>
+#include <utility>
+
+namespace booars_utils::ros {
+
+class FunctionTimer {
+ private:
+  rclcpp::TimerBase::SharedPtr timer_;
+
+ public:
+  using SharedPtr = std::shared_ptr<FunctionTimer>;
+
+  static SharedPtr create_function_timer(rclcpp::Node* node,
+                                         const double update_rate_hz,
+                                         std::function<void()> callback) {
+    return std::make_shared<FunctionTimer>(node, update_rate_hz, callback);
+  }
+
+  explicit FunctionTimer(rclcpp::Node* node, const double update_rate_hz,
+                         std::function<void()> callback) {
+    const double dt = 1.0 / update_rate_hz;
+
+    auto period = std::chrono::duration_cast<std::chrono::nanoseconds>(
+        std::chrono::duration<double>(dt));
+    timer_ = std::make_shared<rclcpp::GenericTimer<decltype(callback)>>(
+        node->get_clock(), period, std::move(callback),
+        node->get_node_base_interface()->get_context());
+    node->get_node_timers_interface()->add_timer(timer_, nullptr);
+  }
+};
+
+}  // namespace booars_utils::ros
+
+#endif  // BOOARS_UTILS__ROS__FUNCTION_TIMER_HPP_
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>