diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt
index 91ffe11..05e9465 100644
--- a/autoware_adapi_v1_msgs/CMakeLists.txt
+++ b/autoware_adapi_v1_msgs/CMakeLists.txt
@@ -46,6 +46,10 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   system/msg/DiagLinkStruct.msg
   system/msg/DiagNodeStruct.msg
   system/msg/DiagNodeStatus.msg
+  system/msg/MetricArrayStruct.msg
+  system/msg/MetricArrayStatus.msg
+  system/msg/MetricDataStruct.msg
+  system/msg/MetricDataStatus.msg
   vehicle/msg/DoorCommand.msg
   vehicle/msg/DoorLayout.msg
   vehicle/msg/DoorStatus.msg
diff --git a/autoware_adapi_v1_msgs/system/msg/DiagNodeStatus.msg b/autoware_adapi_v1_msgs/system/msg/DiagNodeStatus.msg
index 252cd4c..038ad74 100644
--- a/autoware_adapi_v1_msgs/system/msg/DiagNodeStatus.msg
+++ b/autoware_adapi_v1_msgs/system/msg/DiagNodeStatus.msg
@@ -1 +1,2 @@
-byte level  # The level of diagnostic_msgs/msg/DiagnosticStatus.
+# The level of diagnostic_msgs/msg/DiagnosticStatus.
+byte level
diff --git a/autoware_adapi_v1_msgs/system/msg/DiagNodeStruct.msg b/autoware_adapi_v1_msgs/system/msg/DiagNodeStruct.msg
index 06fa627..f3f7414 100644
--- a/autoware_adapi_v1_msgs/system/msg/DiagNodeStruct.msg
+++ b/autoware_adapi_v1_msgs/system/msg/DiagNodeStruct.msg
@@ -1,2 +1 @@
 string path
-string type
diff --git a/autoware_adapi_v1_msgs/system/msg/MetricArrayStatus.msg b/autoware_adapi_v1_msgs/system/msg/MetricArrayStatus.msg
new file mode 100644
index 0000000..2bcfe86
--- /dev/null
+++ b/autoware_adapi_v1_msgs/system/msg/MetricArrayStatus.msg
@@ -0,0 +1,3 @@
+builtin_interfaces/Time stamp
+string id
+autoware_adapi_v1_msgs/MetricDataStatus[] metrics
diff --git a/autoware_adapi_v1_msgs/system/msg/MetricArrayStruct.msg b/autoware_adapi_v1_msgs/system/msg/MetricArrayStruct.msg
new file mode 100644
index 0000000..25c05c1
--- /dev/null
+++ b/autoware_adapi_v1_msgs/system/msg/MetricArrayStruct.msg
@@ -0,0 +1,3 @@
+builtin_interfaces/Time stamp
+string id
+autoware_adapi_v1_msgs/MetricDataStruct[] metrics
diff --git a/autoware_adapi_v1_msgs/system/msg/MetricDataStatus.msg b/autoware_adapi_v1_msgs/system/msg/MetricDataStatus.msg
new file mode 100644
index 0000000..ae72173
--- /dev/null
+++ b/autoware_adapi_v1_msgs/system/msg/MetricDataStatus.msg
@@ -0,0 +1 @@
+string data
diff --git a/autoware_adapi_v1_msgs/system/msg/MetricDataStruct.msg b/autoware_adapi_v1_msgs/system/msg/MetricDataStruct.msg
new file mode 100644
index 0000000..42f2bc1
--- /dev/null
+++ b/autoware_adapi_v1_msgs/system/msg/MetricDataStruct.msg
@@ -0,0 +1 @@
+string name