diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt
index dee7bb5..3a5f2f9 100644
--- a/autoware_adapi_v1_msgs/CMakeLists.txt
+++ b/autoware_adapi_v1_msgs/CMakeLists.txt
@@ -8,15 +8,16 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   common/msg/ResponseStatus.msg
   localization/msg/LocalizationInitializationState.msg
   localization/srv/InitializeLocalization.srv
-  manual/msg/AccelCommand.msg
+  manual/msg/AccelerationCommand.msg
   manual/msg/GearCommand.msg
   manual/msg/HazardLightsCommand.msg
   manual/msg/ManualControlMode.msg
   manual/msg/ManualControlModeStatus.msg
   manual/msg/ManualOperatorStatus.msg
   manual/msg/PedalCommand.msg
-  manual/msg/SteerCommand.msg
+  manual/msg/SteeringCommand.msg
   manual/msg/TurnIndicatorsCommand.msg
+  manual/srv/ListManualControlMode.srv
   manual/srv/SelectManualControlMode.srv
   routing/msg/RouteState.msg
   routing/msg/Route.msg
diff --git a/autoware_adapi_v1_msgs/manual/msg/AccelCommand.msg b/autoware_adapi_v1_msgs/manual/msg/AccelerationCommand.msg
similarity index 58%
rename from autoware_adapi_v1_msgs/manual/msg/AccelCommand.msg
rename to autoware_adapi_v1_msgs/manual/msg/AccelerationCommand.msg
index 6260fd9..7ae290e 100644
--- a/autoware_adapi_v1_msgs/manual/msg/AccelCommand.msg
+++ b/autoware_adapi_v1_msgs/manual/msg/AccelerationCommand.msg
@@ -1,2 +1,2 @@
 builtin_interfaces/Time stamp
-float32 accel
+float32 acceleration
diff --git a/autoware_adapi_v1_msgs/manual/msg/PedalCommand.msg b/autoware_adapi_v1_msgs/manual/msg/PedalCommand.msg
index 80b7fcf..7f69dd3 100644
--- a/autoware_adapi_v1_msgs/manual/msg/PedalCommand.msg
+++ b/autoware_adapi_v1_msgs/manual/msg/PedalCommand.msg
@@ -1,3 +1,3 @@
 builtin_interfaces/Time stamp
-float32 accel
+float32 accelerator
 float32 brake
diff --git a/autoware_adapi_v1_msgs/manual/msg/SteerCommand.msg b/autoware_adapi_v1_msgs/manual/msg/SteeringCommand.msg
similarity index 51%
rename from autoware_adapi_v1_msgs/manual/msg/SteerCommand.msg
rename to autoware_adapi_v1_msgs/manual/msg/SteeringCommand.msg
index 8f77884..6c13fbf 100644
--- a/autoware_adapi_v1_msgs/manual/msg/SteerCommand.msg
+++ b/autoware_adapi_v1_msgs/manual/msg/SteeringCommand.msg
@@ -1,2 +1,2 @@
 builtin_interfaces/Time stamp
-float32 steer
+float32 steering_tire_angle
diff --git a/autoware_adapi_v1_msgs/manual/srv/ListManualControlMode.srv b/autoware_adapi_v1_msgs/manual/srv/ListManualControlMode.srv
new file mode 100644
index 0000000..ec60d1c
--- /dev/null
+++ b/autoware_adapi_v1_msgs/manual/srv/ListManualControlMode.srv
@@ -0,0 +1,3 @@
+---
+autoware_adapi_v1_msgs/ResponseStatus status
+autoware_adapi_v1_msgs/ManualControlMode[] modes