diff --git a/tier4_rtc_msgs/CMakeLists.txt b/tier4_rtc_msgs/CMakeLists.txt
index 0faafaad..0e9f99b1 100644
--- a/tier4_rtc_msgs/CMakeLists.txt
+++ b/tier4_rtc_msgs/CMakeLists.txt
@@ -16,6 +16,7 @@ ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Command.msg"
+  "msg/State.msg"
   "msg/CooperateCommand.msg"
   "msg/CooperateResponse.msg"
   "msg/CooperateStatus.msg"
diff --git a/tier4_rtc_msgs/msg/CooperateStatus.msg b/tier4_rtc_msgs/msg/CooperateStatus.msg
index 5f49fb8a..1f4aa734 100644
--- a/tier4_rtc_msgs/msg/CooperateStatus.msg
+++ b/tier4_rtc_msgs/msg/CooperateStatus.msg
@@ -3,6 +3,7 @@ unique_identifier_msgs/UUID uuid
 tier4_rtc_msgs/Module module
 bool safe
 tier4_rtc_msgs/Command command_status
+tier4_rtc_msgs/State state
 bool auto_mode
 float32 start_distance
 float32 finish_distance
diff --git a/tier4_rtc_msgs/msg/State.msg b/tier4_rtc_msgs/msg/State.msg
new file mode 100644
index 00000000..36a4aca4
--- /dev/null
+++ b/tier4_rtc_msgs/msg/State.msg
@@ -0,0 +1,7 @@
+uint8 type
+
+uint8 WAITING_FOR_EXECUTION = 0
+uint8 RUNNING = 1
+uint8 ABORTING = 2
+uint8 SUCCEEDED = 3
+uint8 FAILED = 4