diff --git a/tier4_simulation_msgs/CMakeLists.txt b/tier4_simulation_msgs/CMakeLists.txt
index 59adb08a..de8e38a0 100644
--- a/tier4_simulation_msgs/CMakeLists.txt
+++ b/tier4_simulation_msgs/CMakeLists.txt
@@ -12,15 +12,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake_auto REQUIRED)
+
 ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/FaultInjectionEvent.msg"
-  "msg/SimulationEvents.msg"
-  DEPENDENCIES
-    builtin_interfaces
-    std_msgs
-)
+  msg/FaultInjectionEvent.msg
+  msg/SimulationEvents.msg
+  msg/UserDefinedValue.msg
+  msg/UserDefinedValueType.msg
+  DEPENDENCIES builtin_interfaces std_msgs)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/tier4_simulation_msgs/msg/UserDefinedValue.msg b/tier4_simulation_msgs/msg/UserDefinedValue.msg
new file mode 100644
index 00000000..ecece4c4
--- /dev/null
+++ b/tier4_simulation_msgs/msg/UserDefinedValue.msg
@@ -0,0 +1,2 @@
+tier4_simulation_msgs/UserDefinedValueType type
+string value
diff --git a/tier4_simulation_msgs/msg/UserDefinedValueType.msg b/tier4_simulation_msgs/msg/UserDefinedValueType.msg
new file mode 100644
index 00000000..ae4cee0d
--- /dev/null
+++ b/tier4_simulation_msgs/msg/UserDefinedValueType.msg
@@ -0,0 +1,9 @@
+int8 BOOLEAN=0
+int8 DATE_TIME=1
+int8 DOUBLE=2
+int8 INTEGER=3
+int8 STRING=4
+int8 UNSIGNED_INT=5
+int8 UNSIGNED_SHORT=6
+
+uint8 data
diff --git a/tier4_simulation_msgs/package.xml b/tier4_simulation_msgs/package.xml
index d9a4efe3..e90d19e0 100644
--- a/tier4_simulation_msgs/package.xml
+++ b/tier4_simulation_msgs/package.xml
@@ -5,6 +5,8 @@
   <version>0.1.0</version>
   <description>The tier4_simulation_msgs package</description>
   <maintainer email="kenji.miyake@tier4.jp">Kenji Miyake</maintainer>
+  <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
+  <maintainer email="maxime.clement@tier4.jp">Maxime CLEMENT</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>