diff --git a/tier4_system_msgs/CMakeLists.txt b/tier4_system_msgs/CMakeLists.txt
index 6acb18f..d1b3c58 100644
--- a/tier4_system_msgs/CMakeLists.txt
+++ b/tier4_system_msgs/CMakeLists.txt
@@ -38,10 +38,18 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/ServiceLog.msg"
   "msg/ModeChangeAvailable.msg"
   "msg/MrmBehaviorStatus.msg"
+  "msg/CommandSourceStatus.msg"
+  "msg/CommandModeAvailability.msg"
+  "msg/CommandModeAvailabilityItem.msg"
+  "msg/CommandModeRequest.msg"
+  "msg/CommandModeStatus.msg"
+  "msg/CommandModeStatusItem.msg"
   "srv/OperateMrm.srv"
   "srv/ChangeOperationMode.srv"
   "srv/ChangeAutowareControl.srv"
   "srv/ChangeTopicRelayControl.srv"
+  "srv/RequestMrm.srv"
+  "srv/SelectCommandSource.srv"
   DEPENDENCIES
     autoware_common_msgs
     builtin_interfaces
diff --git a/tier4_system_msgs/msg/CommandModeAvailability.msg b/tier4_system_msgs/msg/CommandModeAvailability.msg
new file mode 100644
index 0000000..0c59835
--- /dev/null
+++ b/tier4_system_msgs/msg/CommandModeAvailability.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+tier4_system_msgs/CommandModeAvailabilityItem[] items
diff --git a/tier4_system_msgs/msg/CommandModeAvailabilityItem.msg b/tier4_system_msgs/msg/CommandModeAvailabilityItem.msg
new file mode 100644
index 0000000..10f65e1
--- /dev/null
+++ b/tier4_system_msgs/msg/CommandModeAvailabilityItem.msg
@@ -0,0 +1,2 @@
+string mode
+bool available
diff --git a/tier4_system_msgs/msg/CommandModeRequest.msg b/tier4_system_msgs/msg/CommandModeRequest.msg
new file mode 100644
index 0000000..a5dcaec
--- /dev/null
+++ b/tier4_system_msgs/msg/CommandModeRequest.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+string mode
diff --git a/tier4_system_msgs/msg/CommandModeStatus.msg b/tier4_system_msgs/msg/CommandModeStatus.msg
new file mode 100644
index 0000000..f044666
--- /dev/null
+++ b/tier4_system_msgs/msg/CommandModeStatus.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+tier4_system_msgs/CommandModeStatusItem[] items
diff --git a/tier4_system_msgs/msg/CommandModeStatusItem.msg b/tier4_system_msgs/msg/CommandModeStatusItem.msg
new file mode 100644
index 0000000..4c8e90f
--- /dev/null
+++ b/tier4_system_msgs/msg/CommandModeStatusItem.msg
@@ -0,0 +1,10 @@
+uint8 UNDEFINED = 0
+uint8 NONE = 1
+uint8 OPERATING = 2
+uint8 SUCCEEDED = 3
+uint8 FAILED = 4
+
+string mode
+bool activation
+bool transition
+uint8 mrm
diff --git a/tier4_system_msgs/msg/CommandSourceStatus.msg b/tier4_system_msgs/msg/CommandSourceStatus.msg
new file mode 100644
index 0000000..e5f42e2
--- /dev/null
+++ b/tier4_system_msgs/msg/CommandSourceStatus.msg
@@ -0,0 +1,4 @@
+builtin_interfaces/Time stamp
+string source
+bool transition
+bool emergency
diff --git a/tier4_system_msgs/srv/RequestMrm.srv b/tier4_system_msgs/srv/RequestMrm.srv
new file mode 100644
index 0000000..7ae9f4e
--- /dev/null
+++ b/tier4_system_msgs/srv/RequestMrm.srv
@@ -0,0 +1,3 @@
+string name
+---
+autoware_common_msgs/ResponseStatus status
diff --git a/tier4_system_msgs/srv/SelectCommandSource.srv b/tier4_system_msgs/srv/SelectCommandSource.srv
new file mode 100644
index 0000000..6e9319c
--- /dev/null
+++ b/tier4_system_msgs/srv/SelectCommandSource.srv
@@ -0,0 +1,3 @@
+string source
+---
+autoware_common_msgs/ResponseStatus status