diff --git a/tier4_system_msgs/CMakeLists.txt b/tier4_system_msgs/CMakeLists.txt
index 1518d12..43e5e50 100644
--- a/tier4_system_msgs/CMakeLists.txt
+++ b/tier4_system_msgs/CMakeLists.txt
@@ -32,6 +32,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/ModeChangeAvailable.msg"
   "msg/MrmBehavior.msg"
   "msg/MrmBehaviorStatus.msg"
+  "msg/MrmState.msg"
   "srv/OperateMrm.srv"
   "srv/ChangeOperationMode.srv"
   "srv/ChangeAutowareControl.srv"
diff --git a/tier4_system_msgs/msg/MrmState.msg b/tier4_system_msgs/msg/MrmState.msg
new file mode 100644
index 0000000..e6be8be
--- /dev/null
+++ b/tier4_system_msgs/msg/MrmState.msg
@@ -0,0 +1,11 @@
+builtin_interfaces/Time stamp
+
+# For state
+uint16 UNKNOWN = 0
+uint16 NORMAL = 1
+uint16 MRM_OPERATING = 2
+uint16 MRM_SUCCEEDED = 3
+uint16 MRM_FAILED = 4
+
+uint16 state
+tier4_system_msgs/MrmBehavior behavior