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