diff --git a/messages/autoware_external_api_msgs/CMakeLists.txt b/messages/autoware_external_api_msgs/CMakeLists.txt
new file mode 100644
index 0000000000000..5655898c81a02
--- /dev/null
+++ b/messages/autoware_external_api_msgs/CMakeLists.txt
@@ -0,0 +1,60 @@
+cmake_minimum_required(VERSION 3.5)
+project(autoware_external_api_msgs)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/ClassifiedDiagnostics.msg
+  msg/ControlCommand.msg
+  msg/ControlCommandStamped.msg
+  msg/DoorStatus.msg
+  msg/Observer.msg
+  msg/Operator.msg
+  msg/EngageStatus.msg
+  msg/GearShift.msg
+  msg/GearShiftStamped.msg
+  msg/Heartbeat.msg
+  msg/MapHash.msg
+  msg/ResponseStatus.msg
+  msg/Route.msg
+  msg/RouteSection.msg
+  msg/Service.msg
+  msg/TurnSignal.msg
+  msg/TurnSignalStamped.msg
+  srv/ClearRoute.srv
+  srv/Engage.srv
+  srv/GetVersion.srv
+  srv/InitializePose.srv
+  srv/InitializePoseAuto.srv
+  srv/PauseDriving.srv
+  srv/SetDoor.srv
+  srv/SetObserver.srv
+  srv/SetOperator.srv
+  srv/SetEmergency.srv
+  srv/SetPose.srv
+  srv/SetRoute.srv
+  srv/SetService.srv
+  srv/SetVelocityLimit.srv
+  DEPENDENCIES
+    builtin_interfaces
+    diagnostic_msgs
+    geometry_msgs
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()
diff --git a/messages/autoware_external_api_msgs/msg/ClassifiedDiagnostics.msg b/messages/autoware_external_api_msgs/msg/ClassifiedDiagnostics.msg
new file mode 100644
index 0000000000000..8d4db7f9c4beb
--- /dev/null
+++ b/messages/autoware_external_api_msgs/msg/ClassifiedDiagnostics.msg
@@ -0,0 +1,5 @@
+builtin_interfaces/Time stamp
+# TODO: move diagnostics
+# TODO: move diagnostics_error
+diagnostic_msgs/DiagnosticStatus[] diagnostics_notice
+# TODO: move hazard_status
diff --git a/messages/autoware_external_api_msgs/msg/ControlCommand.msg b/messages/autoware_external_api_msgs/msg/ControlCommand.msg
new file mode 100644
index 0000000000000..8209a16efb163
--- /dev/null
+++ b/messages/autoware_external_api_msgs/msg/ControlCommand.msg
@@ -0,0 +1,4 @@
+float64 steering_angle
+float64 steering_angle_velocity
+float64 throttle
+float64 brake
diff --git a/messages/autoware_external_api_msgs/msg/ControlCommandStamped.msg b/messages/autoware_external_api_msgs/msg/ControlCommandStamped.msg
new file mode 100644
index 0000000000000..82c1492003c09
--- /dev/null
+++ b/messages/autoware_external_api_msgs/msg/ControlCommandStamped.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_external_api_msgs/ControlCommand control
diff --git a/messages/autoware_external_api_msgs/msg/DoorStatus.msg b/messages/autoware_external_api_msgs/msg/DoorStatus.msg
new file mode 100644
index 0000000000000..10428618bd6b0
--- /dev/null
+++ b/messages/autoware_external_api_msgs/msg/DoorStatus.msg
@@ -0,0 +1,11 @@
+# constants
+int8 NOT_SUPPORTED = -1
+int8 UNKNOWN = 0
+int8 OPENED = 1
+int8 CLOSED = 2
+int8 OPENING = 3
+int8 CLOSING = 4
+
+# fields
+builtin_interfaces/Time stamp
+int8 status
diff --git a/messages/autoware_external_api_msgs/msg/EngageStatus.msg b/messages/autoware_external_api_msgs/msg/EngageStatus.msg
new file mode 100644
index 0000000000000..c5fe7dc3988b9
--- /dev/null
+++ b/messages/autoware_external_api_msgs/msg/EngageStatus.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+bool engage
diff --git a/messages/autoware_external_api_msgs/msg/GearShift.msg b/messages/autoware_external_api_msgs/msg/GearShift.msg
new file mode 100644
index 0000000000000..a7729854c08ba
--- /dev/null
+++ b/messages/autoware_external_api_msgs/msg/GearShift.msg
@@ -0,0 +1,10 @@
+# constants
+uint8 NONE=0
+uint8 PARKING=1
+uint8 REVERSE=2
+uint8 NEUTRAL=3
+uint8 DRIVE=4
+uint8 LOW=5
+
+# fields
+uint8 data
diff --git a/messages/autoware_external_api_msgs/msg/GearShiftStamped.msg b/messages/autoware_external_api_msgs/msg/GearShiftStamped.msg
new file mode 100644
index 0000000000000..2a9cfb1716328
--- /dev/null
+++ b/messages/autoware_external_api_msgs/msg/GearShiftStamped.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_external_api_msgs/GearShift gear_shift
diff --git a/messages/autoware_external_api_msgs/msg/Heartbeat.msg b/messages/autoware_external_api_msgs/msg/Heartbeat.msg
new file mode 100644
index 0000000000000..4b20d3199e5a6
--- /dev/null
+++ b/messages/autoware_external_api_msgs/msg/Heartbeat.msg
@@ -0,0 +1 @@
+builtin_interfaces/Time stamp
diff --git a/messages/autoware_external_api_msgs/msg/MapHash.msg b/messages/autoware_external_api_msgs/msg/MapHash.msg
new file mode 100644
index 0000000000000..9febad42d0627
--- /dev/null
+++ b/messages/autoware_external_api_msgs/msg/MapHash.msg
@@ -0,0 +1 @@
+string lanelet
diff --git a/messages/autoware_external_api_msgs/msg/Observer.msg b/messages/autoware_external_api_msgs/msg/Observer.msg
new file mode 100644
index 0000000000000..3f472c8b929d1
--- /dev/null
+++ b/messages/autoware_external_api_msgs/msg/Observer.msg
@@ -0,0 +1,7 @@
+# constants
+# uint8 NONE=1 (reserved)
+uint8 LOCAL=2
+uint8 REMOTE=3
+
+# fields
+uint8 mode
diff --git a/messages/autoware_external_api_msgs/msg/Operator.msg b/messages/autoware_external_api_msgs/msg/Operator.msg
new file mode 100644
index 0000000000000..18d508c615e96
--- /dev/null
+++ b/messages/autoware_external_api_msgs/msg/Operator.msg
@@ -0,0 +1,7 @@
+# constants
+uint8 DRIVER=1
+uint8 AUTONOMOUS=2
+uint8 OBSERVER=3
+
+# fields
+uint8 mode
diff --git a/messages/autoware_external_api_msgs/msg/ResponseStatus.msg b/messages/autoware_external_api_msgs/msg/ResponseStatus.msg
new file mode 100644
index 0000000000000..440ffcd1f89ed
--- /dev/null
+++ b/messages/autoware_external_api_msgs/msg/ResponseStatus.msg
@@ -0,0 +1,9 @@
+# constants
+uint32 SUCCESS=1
+uint32 IGNORED=2
+uint32 WARN=3
+uint32 ERROR=4
+
+# fields
+uint32 code
+string message
diff --git a/messages/autoware_external_api_msgs/msg/Route.msg b/messages/autoware_external_api_msgs/msg/Route.msg
new file mode 100644
index 0000000000000..89c881d9d3d53
--- /dev/null
+++ b/messages/autoware_external_api_msgs/msg/Route.msg
@@ -0,0 +1,2 @@
+geometry_msgs/PoseStamped goal_pose
+autoware_external_api_msgs/RouteSection[] route_sections
diff --git a/messages/autoware_external_api_msgs/msg/RouteSection.msg b/messages/autoware_external_api_msgs/msg/RouteSection.msg
new file mode 100644
index 0000000000000..9c056b7049735
--- /dev/null
+++ b/messages/autoware_external_api_msgs/msg/RouteSection.msg
@@ -0,0 +1,3 @@
+int64 preferred_lane_id
+int64[] lane_ids
+int64[] continued_lane_ids
diff --git a/messages/autoware_external_api_msgs/msg/Service.msg b/messages/autoware_external_api_msgs/msg/Service.msg
new file mode 100644
index 0000000000000..2630a53714e50
--- /dev/null
+++ b/messages/autoware_external_api_msgs/msg/Service.msg
@@ -0,0 +1,6 @@
+# constants
+uint8 NOT_IN_SERVICE=1
+uint8 IN_SERVICE=2
+
+# fields
+uint8 mode
diff --git a/messages/autoware_external_api_msgs/msg/TurnSignal.msg b/messages/autoware_external_api_msgs/msg/TurnSignal.msg
new file mode 100644
index 0000000000000..d2a8eadd4dcdf
--- /dev/null
+++ b/messages/autoware_external_api_msgs/msg/TurnSignal.msg
@@ -0,0 +1,8 @@
+# constants
+uint8 NONE = 0
+uint8 LEFT = 1
+uint8 RIGHT = 2
+uint8 HAZARD = 3
+
+# fields
+uint8 data
diff --git a/messages/autoware_external_api_msgs/msg/TurnSignalStamped.msg b/messages/autoware_external_api_msgs/msg/TurnSignalStamped.msg
new file mode 100644
index 0000000000000..40396b4f008a4
--- /dev/null
+++ b/messages/autoware_external_api_msgs/msg/TurnSignalStamped.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_external_api_msgs/TurnSignal turn_signal
diff --git a/messages/autoware_external_api_msgs/package.xml b/messages/autoware_external_api_msgs/package.xml
new file mode 100644
index 0000000000000..157f52416f418
--- /dev/null
+++ b/messages/autoware_external_api_msgs/package.xml
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+
+  <name>autoware_external_api_msgs</name>
+  <version>0.0.0</version>
+  <description>The autoware_external_api_msgs package</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+  <build_depend>builtin_interfaces</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>builtin_interfaces</exec_depend>
+
+  <depend>diagnostic_msgs</depend>
+  <depend>geometry_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>
diff --git a/messages/autoware_external_api_msgs/srv/ClearRoute.srv b/messages/autoware_external_api_msgs/srv/ClearRoute.srv
new file mode 100644
index 0000000000000..0184f8d197fd3
--- /dev/null
+++ b/messages/autoware_external_api_msgs/srv/ClearRoute.srv
@@ -0,0 +1,2 @@
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/Engage.srv b/messages/autoware_external_api_msgs/srv/Engage.srv
new file mode 100644
index 0000000000000..33d9cb7dc1609
--- /dev/null
+++ b/messages/autoware_external_api_msgs/srv/Engage.srv
@@ -0,0 +1,3 @@
+bool engage
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/GetVersion.srv b/messages/autoware_external_api_msgs/srv/GetVersion.srv
new file mode 100644
index 0000000000000..158b6b4b847ea
--- /dev/null
+++ b/messages/autoware_external_api_msgs/srv/GetVersion.srv
@@ -0,0 +1,3 @@
+---
+autoware_external_api_msgs/ResponseStatus status
+string version
diff --git a/messages/autoware_external_api_msgs/srv/InitializePose.srv b/messages/autoware_external_api_msgs/srv/InitializePose.srv
new file mode 100644
index 0000000000000..0df0be88501f0
--- /dev/null
+++ b/messages/autoware_external_api_msgs/srv/InitializePose.srv
@@ -0,0 +1,3 @@
+geometry_msgs/PoseWithCovarianceStamped pose
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/InitializePoseAuto.srv b/messages/autoware_external_api_msgs/srv/InitializePoseAuto.srv
new file mode 100644
index 0000000000000..0184f8d197fd3
--- /dev/null
+++ b/messages/autoware_external_api_msgs/srv/InitializePoseAuto.srv
@@ -0,0 +1,2 @@
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/PauseDriving.srv b/messages/autoware_external_api_msgs/srv/PauseDriving.srv
new file mode 100644
index 0000000000000..9e7d918a2785c
--- /dev/null
+++ b/messages/autoware_external_api_msgs/srv/PauseDriving.srv
@@ -0,0 +1,3 @@
+bool pause
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/SetDoor.srv b/messages/autoware_external_api_msgs/srv/SetDoor.srv
new file mode 100644
index 0000000000000..aa8a042f0ff17
--- /dev/null
+++ b/messages/autoware_external_api_msgs/srv/SetDoor.srv
@@ -0,0 +1,3 @@
+bool open
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/SetEmergency.srv b/messages/autoware_external_api_msgs/srv/SetEmergency.srv
new file mode 100644
index 0000000000000..7213c8724265b
--- /dev/null
+++ b/messages/autoware_external_api_msgs/srv/SetEmergency.srv
@@ -0,0 +1,3 @@
+bool emergency
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/SetObserver.srv b/messages/autoware_external_api_msgs/srv/SetObserver.srv
new file mode 100644
index 0000000000000..faa2df42df4f9
--- /dev/null
+++ b/messages/autoware_external_api_msgs/srv/SetObserver.srv
@@ -0,0 +1,3 @@
+autoware_external_api_msgs/Observer mode
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/SetOperator.srv b/messages/autoware_external_api_msgs/srv/SetOperator.srv
new file mode 100644
index 0000000000000..fde557769a2da
--- /dev/null
+++ b/messages/autoware_external_api_msgs/srv/SetOperator.srv
@@ -0,0 +1,3 @@
+autoware_external_api_msgs/Operator mode
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/SetPose.srv b/messages/autoware_external_api_msgs/srv/SetPose.srv
new file mode 100644
index 0000000000000..b6360a13e2dd5
--- /dev/null
+++ b/messages/autoware_external_api_msgs/srv/SetPose.srv
@@ -0,0 +1,3 @@
+geometry_msgs/PoseStamped pose
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/SetRoute.srv b/messages/autoware_external_api_msgs/srv/SetRoute.srv
new file mode 100644
index 0000000000000..84b4be958fc58
--- /dev/null
+++ b/messages/autoware_external_api_msgs/srv/SetRoute.srv
@@ -0,0 +1,3 @@
+autoware_external_api_msgs/Route route
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/SetService.srv b/messages/autoware_external_api_msgs/srv/SetService.srv
new file mode 100644
index 0000000000000..fd40a19fee0b6
--- /dev/null
+++ b/messages/autoware_external_api_msgs/srv/SetService.srv
@@ -0,0 +1,3 @@
+autoware_external_api_msgs/Service mode
+---
+autoware_external_api_msgs/ResponseStatus status
diff --git a/messages/autoware_external_api_msgs/srv/SetVelocityLimit.srv b/messages/autoware_external_api_msgs/srv/SetVelocityLimit.srv
new file mode 100644
index 0000000000000..2960a5e524440
--- /dev/null
+++ b/messages/autoware_external_api_msgs/srv/SetVelocityLimit.srv
@@ -0,0 +1,3 @@
+float32 velocity
+---
+autoware_external_api_msgs/ResponseStatus status