diff --git a/tier4_system_msgs/CMakeLists.txt b/tier4_system_msgs/CMakeLists.txt
index 454e79b..9cce43e 100644
--- a/tier4_system_msgs/CMakeLists.txt
+++ b/tier4_system_msgs/CMakeLists.txt
@@ -30,6 +30,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/OperationModeAvailability.msg"
   "msg/EmergencyGoalsClearCommand.msg"
   "msg/EmergencyGoalsStamped.msg"
+  "msg/EmergencyHoldingState.msg"
   "msg/EmergencyState.msg"
   "msg/EmergencyStateStamped.msg"
   "msg/HazardStatus.msg"
diff --git a/tier4_system_msgs/msg/EmergencyHoldingState.msg b/tier4_system_msgs/msg/EmergencyHoldingState.msg
new file mode 100644
index 0000000..4f7dbb9
--- /dev/null
+++ b/tier4_system_msgs/msg/EmergencyHoldingState.msg
@@ -0,0 +1,3 @@
+# This message will be deprecated once hazard_status_converter and hazard_status are deprecated.
+builtin_interfaces/Time stamp
+bool is_holding