diff --git a/docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_state.md b/docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_state.md
index 25931cd4626..790a89c1a96 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_state.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/fail_safe/mrm_state.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/fail_safe/mrm_state
 
 - Method: notification
-- Type: [autoware_ad_api_msgs/msg/MrmState](../../../types/autoware_ad_api_msgs/msg/mrm_state.md)
+- Type: [autoware_adapi_v1_msgs/msg/MrmState](../../../types/autoware_adapi_v1_msgs/msg/mrm_state.md)
 
 ## Description
 
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/interface/version.md b/docs/design/autoware-interfaces/ad-api/list/api/interface/version.md
index 322b129cca6..3f9e3a86cad 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/interface/version.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/interface/version.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/interface/version
 
 - Method: function call
-- Type: [autoware_ad_api_msgs/srv/InterfaceVersion](../../../types/autoware_ad_api_msgs/srv/interface_version.md)
+- Type: [autoware_adapi_version_msgs/srv/InterfaceVersion](../../../types/autoware_adapi_version_msgs/srv/interface_version.md)
 
 ## Description
 
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/localization/initialization_state.md b/docs/design/autoware-interfaces/ad-api/list/api/localization/initialization_state.md
index 19290ea596a..5b4a1ae9023 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/localization/initialization_state.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/localization/initialization_state.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/localization/initialization_state
 
 - Method: notification
-- Type: [autoware_ad_api_msgs/msg/LocalizationInitializationState](../../../types/autoware_ad_api_msgs/msg/localization_initialization_state.md)
+- Type: [autoware_adapi_v1_msgs/msg/LocalizationInitializationState](../../../types/autoware_adapi_v1_msgs/msg/localization_initialization_state.md)
 
 ## Description
 
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/localization/initialize.md b/docs/design/autoware-interfaces/ad-api/list/api/localization/initialize.md
index 84f0b87ba15..e3b1c57b451 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/localization/initialize.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/localization/initialize.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/localization/initialize
 
 - Method: function call
-- Type: [autoware_ad_api_msgs/srv/InitializeLocalization](../../../types/autoware_ad_api_msgs/srv/initialize_localization.md)
+- Type: [autoware_adapi_v1_msgs/srv/InitializeLocalization](../../../types/autoware_adapi_v1_msgs/srv/initialize_localization.md)
 
 ## Description
 
@@ -15,6 +17,6 @@ Request to initialize localization. For details, see the [pose state](./index.md
 
 ## Response
 
-| Name   | Type                                    | Description     |
-| ------ | --------------------------------------- | --------------- |
-| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
+| Name   | Type                                      | Description     |
+| ------ | ----------------------------------------- | --------------- |
+| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/motion/accept_start.md b/docs/design/autoware-interfaces/ad-api/list/api/motion/accept_start.md
index 71997a05e20..46a1b52ce3b 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/motion/accept_start.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/motion/accept_start.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/motion/accept_start
 
 - Method: function call
-- Type: [autoware_ad_api_msgs/srv/AcceptStart](../../../types/autoware_ad_api_msgs/srv/accept_start.md)
+- Type: [autoware_adapi_v1_msgs/srv/AcceptStart](../../../types/autoware_adapi_v1_msgs/srv/accept_start.md)
 
 ## Description
 
@@ -13,6 +15,6 @@ None
 
 ## Response
 
-| Name   | Type                                    | Description     |
-| ------ | --------------------------------------- | --------------- |
-| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
+| Name   | Type                                      | Description     |
+| ------ | ----------------------------------------- | --------------- |
+| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/motion/state.md b/docs/design/autoware-interfaces/ad-api/list/api/motion/state.md
index 7520aed9e58..c77112ecfd9 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/motion/state.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/motion/state.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/motion/state
 
 - Method: notification
-- Type: [autoware_ad_api_msgs/msg/MotionState](../../../types/autoware_ad_api_msgs/msg/motion_state.md)
+- Type: [autoware_adapi_v1_msgs/msg/MotionState](../../../types/autoware_adapi_v1_msgs/msg/motion_state.md)
 
 ## Description
 
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_autonomous.md b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_autonomous.md
index 43870ddaeed..7a5f6226380 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_autonomous.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_autonomous.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/operation_mode/change_to_autonomous
 
 - Method: function call
-- Type: [autoware_ad_api_msgs/srv/ChangeOperationMode](../../../types/autoware_ad_api_msgs/srv/change_operation_mode.md)
+- Type: [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../../types/autoware_adapi_v1_msgs/srv/change_operation_mode.md)
 
 ## Description
 
@@ -13,6 +15,6 @@ None
 
 ## Response
 
-| Name   | Type                                    | Description     |
-| ------ | --------------------------------------- | --------------- |
-| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
+| Name   | Type                                      | Description     |
+| ------ | ----------------------------------------- | --------------- |
+| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_local.md b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_local.md
index 5a53ad51c86..dd1bdc02d43 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_local.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_local.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/operation_mode/change_to_local
 
 - Method: function call
-- Type: [autoware_ad_api_msgs/srv/ChangeOperationMode](../../../types/autoware_ad_api_msgs/srv/change_operation_mode.md)
+- Type: [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../../types/autoware_adapi_v1_msgs/srv/change_operation_mode.md)
 
 ## Description
 
@@ -13,6 +15,6 @@ None
 
 ## Response
 
-| Name   | Type                                    | Description     |
-| ------ | --------------------------------------- | --------------- |
-| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
+| Name   | Type                                      | Description     |
+| ------ | ----------------------------------------- | --------------- |
+| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_remote.md b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_remote.md
index 66bb18b2f1d..689f66510af 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_remote.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_remote.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/operation_mode/change_to_remote
 
 - Method: function call
-- Type: [autoware_ad_api_msgs/srv/ChangeOperationMode](../../../types/autoware_ad_api_msgs/srv/change_operation_mode.md)
+- Type: [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../../types/autoware_adapi_v1_msgs/srv/change_operation_mode.md)
 
 ## Description
 
@@ -13,6 +15,6 @@ None
 
 ## Response
 
-| Name   | Type                                    | Description     |
-| ------ | --------------------------------------- | --------------- |
-| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
+| Name   | Type                                      | Description     |
+| ------ | ----------------------------------------- | --------------- |
+| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_stop.md b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_stop.md
index b0eda5e4d76..d590a42330e 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_stop.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/change_to_stop.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/operation_mode/change_to_stop
 
 - Method: function call
-- Type: [autoware_ad_api_msgs/srv/ChangeOperationMode](../../../types/autoware_ad_api_msgs/srv/change_operation_mode.md)
+- Type: [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../../types/autoware_adapi_v1_msgs/srv/change_operation_mode.md)
 
 ## Description
 
@@ -13,6 +15,6 @@ None
 
 ## Response
 
-| Name   | Type                                    | Description     |
-| ------ | --------------------------------------- | --------------- |
-| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
+| Name   | Type                                      | Description     |
+| ------ | ----------------------------------------- | --------------- |
+| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/disable_autoware_control.md b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/disable_autoware_control.md
index e639106e542..7372ac7e2ed 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/disable_autoware_control.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/disable_autoware_control.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/operation_mode/disable_autoware_control
 
 - Method: function call
-- Type: [autoware_ad_api_msgs/srv/ChangeOperationMode](../../../types/autoware_ad_api_msgs/srv/change_operation_mode.md)
+- Type: [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../../types/autoware_adapi_v1_msgs/srv/change_operation_mode.md)
 
 ## Description
 
@@ -14,6 +16,6 @@ None
 
 ## Response
 
-| Name   | Type                                    | Description     |
-| ------ | --------------------------------------- | --------------- |
-| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
+| Name   | Type                                      | Description     |
+| ------ | ----------------------------------------- | --------------- |
+| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/enable_autoware_control.md b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/enable_autoware_control.md
index cc5d0d835af..ec8b0b6220e 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/enable_autoware_control.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/enable_autoware_control.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/operation_mode/enable_autoware_control
 
 - Method: function call
-- Type: [autoware_ad_api_msgs/srv/ChangeOperationMode](../../../types/autoware_ad_api_msgs/srv/change_operation_mode.md)
+- Type: [autoware_adapi_v1_msgs/srv/ChangeOperationMode](../../../types/autoware_adapi_v1_msgs/srv/change_operation_mode.md)
 
 ## Description
 
@@ -14,6 +16,6 @@ None
 
 ## Response
 
-| Name   | Type                                    | Description     |
-| ------ | --------------------------------------- | --------------- |
-| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
+| Name   | Type                                      | Description     |
+| ------ | ----------------------------------------- | --------------- |
+| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/state.md b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/state.md
index 38c4d4184da..2342efacb5a 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/state.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/operation_mode/state.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/operation_mode/state
 
 - Method: notification
-- Type: [autoware_ad_api_msgs/msg/OperationModeState](../../../types/autoware_ad_api_msgs/msg/operation_mode_state.md)
+- Type: [autoware_adapi_v1_msgs/msg/OperationModeState](../../../types/autoware_adapi_v1_msgs/msg/operation_mode_state.md)
 
 ## Description
 
@@ -9,12 +11,12 @@ Get the operation mode state. For details, see the [operation mode](./index.md).
 
 ## Message
 
-| Name                        | Type   | Description                                              |
-| --------------------------- | ------ | -------------------------------------------------------- |
-| operation_mode              | uint16 | The selected command for Autoware control.               |
-| is_autoware_control_enabled | bool   | True if vehicle control by Autoware is enabled.          |
-| is_in_transition            | bool   | True if the operation mode is in transition.             |
-| change_to_stop              | bool   | True if the operation mode can be changed to stop.       |
-| change_to_autonomous        | bool   | True if the operation mode can be changed to autonomous. |
-| change_to_local             | bool   | True if the operation mode can be changed to local.      |
-| change_to_remote            | bool   | True if the operation mode can be changed to remote.     |
+| Name                         | Type  | Description                                              |
+| ---------------------------- | ----- | -------------------------------------------------------- |
+| mode                         | uint8 | The selected command for Autoware control.               |
+| is_autoware_control_enabled  | bool  | True if vehicle control by Autoware is enabled.          |
+| is_in_transition             | bool  | True if the operation mode is in transition.             |
+| is_stop_mode_available       | bool  | True if the operation mode can be changed to stop.       |
+| is_autonomous_mode_available | bool  | True if the operation mode can be changed to autonomous. |
+| is_local_mode_available      | bool  | True if the operation mode can be changed to local.      |
+| is_remote_mode_available     | bool  | True if the operation mode can be changed to remote.     |
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/planning/steering_factors.md b/docs/design/autoware-interfaces/ad-api/list/api/planning/steering_factors.md
index 946b2ef57f8..7712bdce4b2 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/planning/steering_factors.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/planning/steering_factors.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/planning/steering_factors
 
 - Method: realtime stream
-- Type: [autoware_ad_api_msgs/msg/SteeringFactorArray](../../../types/autoware_ad_api_msgs/msg/steering_factor_array.md)
+- Type: [autoware_adapi_v1_msgs/msg/SteeringFactorArray](../../../types/autoware_adapi_v1_msgs/msg/steering_factor_array.md)
 
 ## Description
 
@@ -10,11 +12,11 @@ For details, see the [planning](./index.md).
 
 ## Message
 
-| Name              | Type                   | Description                                           |
-| ----------------- | ---------------------- | ----------------------------------------------------- |
-| factors.pose      | geometry_msgs/msg/Pose | The pose related to the steering factor.              |
-| factors.distance  | float32                | The distance from the vehicle head to the above pose. |
-| factors.type      | uint16                 | The type of the steering factor.                      |
-| factors.direction | uint16                 | The direction of the steering factor.                 |
-| factors.status    | uint16                 | The status of the steering factor.                    |
-| factors.detail    | string                 | The additional information of the steering factor.    |
+| Name              | Type                      | Description                                           |
+| ----------------- | ------------------------- | ----------------------------------------------------- |
+| factors.pose      | geometry_msgs/msg/Pose[2] | The pose related to the steering factor.              |
+| factors.distance  | float32[2]                | The distance from the vehicle head to the above pose. |
+| factors.type      | uint16                    | The type of the steering factor.                      |
+| factors.direction | uint16                    | The direction of the steering factor.                 |
+| factors.status    | uint16                    | The status of the steering factor.                    |
+| factors.detail    | string                    | The additional information of the steering factor.    |
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/planning/velocity_factors.md b/docs/design/autoware-interfaces/ad-api/list/api/planning/velocity_factors.md
index ac375acb216..e45bb21453f 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/planning/velocity_factors.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/planning/velocity_factors.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/planning/velocity_factors
 
 - Method: realtime stream
-- Type: [autoware_ad_api_msgs/msg/VelocityFactorArray](../../../types/autoware_ad_api_msgs/msg/velocity_factor_array.md)
+- Type: [autoware_adapi_v1_msgs/msg/VelocityFactorArray](../../../types/autoware_adapi_v1_msgs/msg/velocity_factor_array.md)
 
 ## Description
 
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/clear_route.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/clear_route.md
index 61ba5690c44..77252199605 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/routing/clear_route.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/clear_route.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/routing/clear_route
 
 - Method: function call
-- Type: [autoware_ad_api_msgs/srv/ClearRoute](../../../types/autoware_ad_api_msgs/srv/clear_route.md)
+- Type: [autoware_adapi_v1_msgs/srv/ClearRoute](../../../types/autoware_adapi_v1_msgs/srv/clear_route.md)
 
 ## Description
 
@@ -13,6 +15,6 @@ None
 
 ## Response
 
-| Name   | Type                                    | Description     |
-| ------ | --------------------------------------- | --------------- |
-| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
+| Name   | Type                                      | Description     |
+| ------ | ----------------------------------------- | --------------- |
+| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/route.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/route.md
index 7a7c771c7ef..3075fb09200 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/routing/route.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/route.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/routing/route
 
 - Method: notification
-- Type: [autoware_ad_api_msgs/msg/RouteOptional](../../../types/autoware_ad_api_msgs/msg/route_optional.md)
+- Type: [autoware_adapi_v1_msgs/msg/Route](../../../types/autoware_adapi_v1_msgs/msg/route.md)
 
 ## Description
 
@@ -9,6 +11,7 @@ Get the route with the waypoint segments in lanelet format. It is empty if route
 
 ## Message
 
-| Name  | Type                                | Description                 |
-| ----- | ----------------------------------- | --------------------------- |
-| route | autoware_ad_api_msgs/msg/Route[<=1] | The route in lanelet format |
+| Name   | Type                                      | Description                    |
+| ------ | ----------------------------------------- | ------------------------------ |
+| header | std_msgs/msg/Header                       | header for pose transformation |
+| data   | autoware_adapi_v1_msgs/msg/RouteData[<=1] | The route in lanelet format    |
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route.md
index 85181ee7834..370ba365a4e 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/routing/set_route
 
 - Method: function call
-- Type: [autoware_ad_api_msgs/srv/SetRoute](../../../types/autoware_ad_api_msgs/srv/set_route.md)
+- Type: [autoware_adapi_v1_msgs/srv/SetRoute](../../../types/autoware_adapi_v1_msgs/srv/set_route.md)
 
 ## Description
 
@@ -9,15 +11,14 @@ Set the route with the waypoint segments in lanelet format. If start pose is not
 
 ## Request
 
-| Name     | Type                                    | Description                         |
-| -------- | --------------------------------------- | ----------------------------------- |
-| header   | std_msgs/msg/Header                     | header for pose transformation      |
-| start    | geometry_msgs/msg/Pose[<=1]             | start pose                          |
-| goal     | geometry_msgs/msg/Pose                  | goal pose                           |
-| segments | autoware_ad_api_msgs/msg/RouteSegment[] | waypoint segments in lanelet format |
+| Name     | Type                                      | Description                         |
+| -------- | ----------------------------------------- | ----------------------------------- |
+| header   | std_msgs/msg/Header                       | header for pose transformation      |
+| goal     | geometry_msgs/msg/Pose                    | goal pose                           |
+| segments | autoware_adapi_v1_msgs/msg/RouteSegment[] | waypoint segments in lanelet format |
 
 ## Response
 
-| Name   | Type                                    | Description     |
-| ------ | --------------------------------------- | --------------- |
-| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
+| Name   | Type                                      | Description     |
+| ------ | ----------------------------------------- | --------------- |
+| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route_points.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route_points.md
index 6200c910fff..79e2f26af0e 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route_points.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/set_route_points.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/routing/set_route_points
 
 - Method: function call
-- Type: [autoware_ad_api_msgs/srv/SetRoutePoints](../../../types/autoware_ad_api_msgs/srv/set_route_points.md)
+- Type: [autoware_adapi_v1_msgs/srv/SetRoutePoints](../../../types/autoware_adapi_v1_msgs/srv/set_route_points.md)
 
 ## Description
 
@@ -9,15 +11,14 @@ Set the route with the waypoint poses. If start pose is not specified, the curre
 
 ## Request
 
-| Name      | Type                        | Description                    |
-| --------- | --------------------------- | ------------------------------ |
-| header    | std_msgs/msg/Header         | header for pose transformation |
-| start     | geometry_msgs/msg/Pose[<=1] | start pose                     |
-| goal      | geometry_msgs/msg/Pose      | goal pose                      |
-| waypoints | geometry_msgs/msg/Pose[]    | waypoint poses                 |
+| Name      | Type                     | Description                    |
+| --------- | ------------------------ | ------------------------------ |
+| header    | std_msgs/msg/Header      | header for pose transformation |
+| goal      | geometry_msgs/msg/Pose   | goal pose                      |
+| waypoints | geometry_msgs/msg/Pose[] | waypoint poses                 |
 
 ## Response
 
-| Name   | Type                                    | Description     |
-| ------ | --------------------------------------- | --------------- |
-| status | autoware_ad_api_msgs/msg/ResponseStatus | response status |
+| Name   | Type                                      | Description     |
+| ------ | ----------------------------------------- | --------------- |
+| status | autoware_adapi_v1_msgs/msg/ResponseStatus | response status |
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/state.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/state.md
index 97d06910edf..e574c9a9445 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/routing/state.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/state.md
@@ -1,7 +1,9 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
 # /api/routing/state
 
 - Method: notification
-- Type: [autoware_ad_api_msgs/msg/RouteState](../../../types/autoware_ad_api_msgs/msg/route_state.md)
+- Type: [autoware_adapi_v1_msgs/msg/RouteState](../../../types/autoware_adapi_v1_msgs/msg/route_state.md)
 
 ## Description
 
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/mrm_state.md b/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/mrm_state.md
deleted file mode 100644
index 39cdad3096c..00000000000
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/mrm_state.md
+++ /dev/null
@@ -1,28 +0,0 @@
-# autoware_ad_api_msgs/msg/MrmState
-
-## Definition
-
-```txt
-# constants for both
-uint16 UNKNOWN = 0
-
-# constants for stamp
-uint16 NONE = 1
-uint16 OPERATING = 2
-uint16 SUCCEEDED = 3
-uint16 FAILED = 4
-
-# constants for behavior
-uint16 NONE = 101
-uint16 EMERGENCY_STOP = 102
-uint16 COMFORTABLE_STOP = 103
-
-# variables
-builtin_interfaces/Time stamp
-uint16 state
-uint16 behavior
-```
-
-## This type uses
-
-None
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/operation_mode_state.md b/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/operation_mode_state.md
deleted file mode 100644
index 11eb8658ddb..00000000000
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/operation_mode_state.md
+++ /dev/null
@@ -1,25 +0,0 @@
-# autoware_ad_api_msgs/msg/OperationModeState
-
-## Definition
-
-```txt
-# constants for operation_mode
-uint16 UNKNOWN = 0
-uint16 STOP = 1
-uint16 AUTONOMOUS = 2
-uint16 LOCAL = 3
-uint16 REMOTE = 4
-
-# variables
-uint16 operation_mode
-bool is_autoware_control_enabled
-bool is_in_transition
-bool change_to_stop
-bool change_to_autonomous
-bool change_to_local
-bool change_to_remote
-```
-
-## This type uses
-
-None
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/response_status.md b/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/response_status.md
deleted file mode 100644
index 7ed93770795..00000000000
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/response_status.md
+++ /dev/null
@@ -1,19 +0,0 @@
-# autoware_ad_api_msgs/msg/ResponseStatus
-
-## Definition
-
-```txt
-# constants for code
-uint16 DEPRECATED = 50000
-uint16 SERVICE_UNREADY = 50001
-uint16 SERVICE_TIMEOUT = 50002
-
-# variables
-bool   success
-uint16 code
-string message
-```
-
-## This type uses
-
-None
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/route.md b/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/route.md
deleted file mode 100644
index ed7d1eba592..00000000000
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/route.md
+++ /dev/null
@@ -1,14 +0,0 @@
-# autoware_ad_api_msgs/msg/Route
-
-## Definition
-
-```txt
-std_msgs/Header header
-geometry_msgs/Pose start
-geometry_msgs/Pose goal
-autoware_ad_api_msgs/RouteSegment[] segments
-```
-
-## This type uses
-
-- [autoware_ad_api_msgs/msg/RouteSegment](../../autoware_ad_api_msgs/msg/route_segment.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/route_optional.md b/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/route_optional.md
deleted file mode 100644
index 1d14b1076ba..00000000000
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/route_optional.md
+++ /dev/null
@@ -1,11 +0,0 @@
-# autoware_ad_api_msgs/msg/RouteOptional
-
-## Definition
-
-```txt
-autoware_ad_api_msgs/Route[<=1] route
-```
-
-## This type uses
-
-- [autoware_ad_api_msgs/msg/Route](../../autoware_ad_api_msgs/msg/route.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/route_segment.md b/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/route_segment.md
deleted file mode 100644
index af02d76b05b..00000000000
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/route_segment.md
+++ /dev/null
@@ -1,12 +0,0 @@
-# autoware_ad_api_msgs/msg/RouteSegment
-
-## Definition
-
-```txt
-autoware_ad_api_msgs/RoutePrimitive[] preferred
-autoware_ad_api_msgs/RoutePrimitive[] alternatives
-```
-
-## This type uses
-
-- [autoware_ad_api_msgs/msg/RoutePrimitive](../../autoware_ad_api_msgs/msg/route_primitive.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/steering_factor_array.md b/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/steering_factor_array.md
deleted file mode 100644
index c9124e016d5..00000000000
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/steering_factor_array.md
+++ /dev/null
@@ -1,12 +0,0 @@
-# autoware_ad_api_msgs/msg/SteeringFactorArray
-
-## Definition
-
-```txt
-std_msgs/Header header
-autoware_ad_api_msgs/SteeringFactor[] factors
-```
-
-## This type uses
-
-- [autoware_ad_api_msgs/msg/SteeringFactor](../../autoware_ad_api_msgs/msg/steering_factor.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/velocity_factor_array.md b/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/velocity_factor_array.md
deleted file mode 100644
index b99af560e84..00000000000
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/velocity_factor_array.md
+++ /dev/null
@@ -1,12 +0,0 @@
-# autoware_ad_api_msgs/msg/VelocityFactorArray
-
-## Definition
-
-```txt
-std_msgs/Header header
-autoware_ad_api_msgs/VelocityFactor[] factors
-```
-
-## This type uses
-
-- [autoware_ad_api_msgs/msg/VelocityFactor](../../autoware_ad_api_msgs/msg/velocity_factor.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/accept_start.md b/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/accept_start.md
deleted file mode 100644
index 53d7f5540c2..00000000000
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/accept_start.md
+++ /dev/null
@@ -1,12 +0,0 @@
-# autoware_ad_api_msgs/srv/AcceptStart
-
-## Definition
-
-```txt
----
-autoware_ad_api_msgs/ResponseStatus status
-```
-
-## This type uses
-
-- [autoware_ad_api_msgs/msg/ResponseStatus](../../autoware_ad_api_msgs/msg/response_status.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/change_operation_mode.md b/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/change_operation_mode.md
deleted file mode 100644
index 6d81494ad4f..00000000000
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/change_operation_mode.md
+++ /dev/null
@@ -1,12 +0,0 @@
-# autoware_ad_api_msgs/srv/ChangeOperationMode
-
-## Definition
-
-```txt
----
-autoware_ad_api_msgs/ResponseStatus status
-```
-
-## This type uses
-
-- [autoware_ad_api_msgs/msg/ResponseStatus](../../autoware_ad_api_msgs/msg/response_status.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/clear_route.md b/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/clear_route.md
deleted file mode 100644
index 7bfa62a8708..00000000000
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/clear_route.md
+++ /dev/null
@@ -1,12 +0,0 @@
-# autoware_ad_api_msgs/srv/ClearRoute
-
-## Definition
-
-```txt
----
-autoware_ad_api_msgs/ResponseStatus status
-```
-
-## This type uses
-
-- [autoware_ad_api_msgs/msg/ResponseStatus](../../autoware_ad_api_msgs/msg/response_status.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/initialize_localization.md b/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/initialize_localization.md
deleted file mode 100644
index ffb2dc8ae3d..00000000000
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/initialize_localization.md
+++ /dev/null
@@ -1,13 +0,0 @@
-# autoware_ad_api_msgs/srv/InitializeLocalization
-
-## Definition
-
-```txt
-geometry_msgs/PoseWithCovarianceStamped[<=1] pose
----
-autoware_ad_api_msgs/ResponseStatus status
-```
-
-## This type uses
-
-- [autoware_ad_api_msgs/msg/ResponseStatus](../../autoware_ad_api_msgs/msg/response_status.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/interface_version.md b/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/interface_version.md
deleted file mode 100644
index 76b87af9c1d..00000000000
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/interface_version.md
+++ /dev/null
@@ -1,14 +0,0 @@
-# autoware_ad_api_msgs/srv/InterfaceVersion
-
-## Definition
-
-```txt
----
-uint16 major
-uint16 minor
-uint16 patch
-```
-
-## This type uses
-
-None
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/set_route.md b/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/set_route.md
deleted file mode 100644
index 1650bc1dce5..00000000000
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/set_route.md
+++ /dev/null
@@ -1,17 +0,0 @@
-# autoware_ad_api_msgs/srv/SetRoute
-
-## Definition
-
-```txt
-std_msgs/Header header
-geometry_msgs/Pose[<=1] start
-geometry_msgs/Pose goal
-autoware_ad_api_msgs/RouteSegment[] segments
----
-autoware_ad_api_msgs/ResponseStatus status
-```
-
-## This type uses
-
-- [autoware_ad_api_msgs/msg/ResponseStatus](../../autoware_ad_api_msgs/msg/response_status.md)
-- [autoware_ad_api_msgs/msg/RouteSegment](../../autoware_ad_api_msgs/msg/route_segment.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/set_route_points.md b/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/set_route_points.md
deleted file mode 100644
index fa96d7e9f4b..00000000000
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/srv/set_route_points.md
+++ /dev/null
@@ -1,16 +0,0 @@
-# autoware_ad_api_msgs/srv/SetRoutePoints
-
-## Definition
-
-```txt
-std_msgs/Header header
-geometry_msgs/Pose[<=1] start
-geometry_msgs/Pose goal
-geometry_msgs/Pose[] waypoints
----
-autoware_ad_api_msgs/ResponseStatus status
-```
-
-## This type uses
-
-- [autoware_ad_api_msgs/msg/ResponseStatus](../../autoware_ad_api_msgs/msg/response_status.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/localization_initialization_state.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/localization_initialization_state.md
similarity index 50%
rename from docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/localization_initialization_state.md
rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/localization_initialization_state.md
index 5a4afbe5b8d..e506e39e34d 100644
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/localization_initialization_state.md
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/localization_initialization_state.md
@@ -1,4 +1,6 @@
-# autoware_ad_api_msgs/msg/LocalizationInitializationState
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/msg/LocalizationInitializationState
 
 ## Definition
 
@@ -8,6 +10,7 @@ uint16 UNINITIALIZED = 1
 uint16 INITIALIZING = 2
 uint16 INITIALIZED = 3
 
+builtin_interfaces/Time stamp
 uint16 state
 ```
 
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/motion_state.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/motion_state.md
similarity index 61%
rename from docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/motion_state.md
rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/motion_state.md
index 0168c06ef7b..a754828fc43 100644
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/motion_state.md
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/motion_state.md
@@ -1,4 +1,6 @@
-# autoware_ad_api_msgs/msg/MotionState
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/msg/MotionState
 
 ## Definition
 
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/mrm_state.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/mrm_state.md
new file mode 100644
index 00000000000..832f75b4e77
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/mrm_state.md
@@ -0,0 +1,30 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/msg/MrmState
+
+## Definition
+
+```txt
+builtin_interfaces/Time stamp
+
+# For common use
+uint16 UNKNOWN = 0
+
+# For state
+uint16 NORMAL = 1
+uint16 MRM_OPERATING = 2
+uint16 MRM_SUCCEEDED = 3
+uint16 MRM_FAILED = 4
+
+# For behavior
+uint16 NONE = 1
+uint16 EMERGENCY_STOP = 2
+uint16 COMFORTABLE_STOP = 3
+
+uint16 state
+uint16 behavior
+```
+
+## This type uses
+
+None
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/operation_mode_state.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/operation_mode_state.md
new file mode 100644
index 00000000000..5bc16da2257
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/operation_mode_state.md
@@ -0,0 +1,28 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/msg/OperationModeState
+
+## Definition
+
+```txt
+# constants for mode
+uint8 UNKNOWN = 0
+uint8 STOP = 1
+uint8 AUTONOMOUS = 2
+uint8 LOCAL = 3
+uint8 REMOTE = 4
+
+# variables
+builtin_interfaces/Time stamp
+uint8 mode
+bool is_autoware_control_enabled
+bool is_in_transition
+bool is_stop_mode_available
+bool is_autonomous_mode_available
+bool is_local_mode_available
+bool is_remote_mode_available
+```
+
+## This type uses
+
+None
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/response_status.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/response_status.md
new file mode 100644
index 00000000000..cdad8d59aa5
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/response_status.md
@@ -0,0 +1,27 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/msg/ResponseStatus
+
+## Definition
+
+```txt
+# error code
+uint16 UNKNOWN = 50000
+uint16 SERVICE_UNREADY = 50001
+uint16 SERVICE_TIMEOUT = 50002
+uint16 TRANSFORM_ERROR = 50003
+uint16 PARAMETER_ERROR = 50004
+
+# warning code
+uint16 DEPRECATED = 60000
+uint16 NO_EFFECT = 60001
+
+# variables
+bool   success
+uint16 code
+string message
+```
+
+## This type uses
+
+None
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route.md
new file mode 100644
index 00000000000..a0c8a36aa34
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route.md
@@ -0,0 +1,14 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/msg/Route
+
+## Definition
+
+```txt
+std_msgs/Header header
+autoware_adapi_v1_msgs/RouteData[<=1] data
+```
+
+## This type uses
+
+- [autoware_adapi_v1_msgs/msg/RouteData](../../autoware_adapi_v1_msgs/msg/route_data.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_data.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_data.md
new file mode 100644
index 00000000000..38f184b429b
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_data.md
@@ -0,0 +1,15 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/msg/RouteData
+
+## Definition
+
+```txt
+geometry_msgs/Pose start
+geometry_msgs/Pose goal
+autoware_adapi_v1_msgs/RouteSegment[] segments
+```
+
+## This type uses
+
+- [autoware_adapi_v1_msgs/msg/RouteSegment](../../autoware_adapi_v1_msgs/msg/route_segment.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/route_primitive.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_primitive.md
similarity index 51%
rename from docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/route_primitive.md
rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_primitive.md
index 9146bdf4f4a..8b39b5a72ef 100644
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/route_primitive.md
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_primitive.md
@@ -1,4 +1,6 @@
-# autoware_ad_api_msgs/msg/RoutePrimitive
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/msg/RoutePrimitive
 
 ## Definition
 
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_segment.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_segment.md
new file mode 100644
index 00000000000..4e804a3e315
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_segment.md
@@ -0,0 +1,14 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/msg/RouteSegment
+
+## Definition
+
+```txt
+autoware_adapi_v1_msgs/RoutePrimitive   preferred
+autoware_adapi_v1_msgs/RoutePrimitive[] alternatives  # Does not include the preferred primitive.
+```
+
+## This type uses
+
+- [autoware_adapi_v1_msgs/msg/RoutePrimitive](../../autoware_adapi_v1_msgs/msg/route_primitive.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/route_state.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_state.md
similarity index 53%
rename from docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/route_state.md
rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_state.md
index 8ffa6309cb9..44a58825c4d 100644
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/route_state.md
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/route_state.md
@@ -1,4 +1,6 @@
-# autoware_ad_api_msgs/msg/RouteState
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/msg/RouteState
 
 ## Definition
 
@@ -9,6 +11,7 @@ uint16 SET = 2
 uint16 ARRIVED = 3
 uint16 CHANGING = 4
 
+builtin_interfaces/Time stamp
 uint16 state
 ```
 
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/steering_factor.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/steering_factor.md
similarity index 84%
rename from docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/steering_factor.md
rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/steering_factor.md
index 8731cd62cfe..b53289e2c32 100644
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/steering_factor.md
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/steering_factor.md
@@ -1,4 +1,6 @@
-# autoware_ad_api_msgs/msg/SteeringFactor
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/msg/SteeringFactor
 
 ## Definition
 
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/steering_factor_array.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/steering_factor_array.md
new file mode 100644
index 00000000000..96c8807e68e
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/steering_factor_array.md
@@ -0,0 +1,14 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/msg/SteeringFactorArray
+
+## Definition
+
+```txt
+std_msgs/Header header
+autoware_adapi_v1_msgs/SteeringFactor[] factors
+```
+
+## This type uses
+
+- [autoware_adapi_v1_msgs/msg/SteeringFactor](../../autoware_adapi_v1_msgs/msg/steering_factor.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/velocity_factor.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/velocity_factor.md
similarity index 86%
rename from docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/velocity_factor.md
rename to docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/velocity_factor.md
index 322f34a4107..afd47bdcd7b 100644
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_ad_api_msgs/msg/velocity_factor.md
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/velocity_factor.md
@@ -1,4 +1,6 @@
-# autoware_ad_api_msgs/msg/VelocityFactor
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/msg/VelocityFactor
 
 ## Definition
 
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/velocity_factor_array.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/velocity_factor_array.md
new file mode 100644
index 00000000000..fcfb3ed02bc
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/velocity_factor_array.md
@@ -0,0 +1,14 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/msg/VelocityFactorArray
+
+## Definition
+
+```txt
+std_msgs/Header header
+autoware_adapi_v1_msgs/VelocityFactor[] factors
+```
+
+## This type uses
+
+- [autoware_adapi_v1_msgs/msg/VelocityFactor](../../autoware_adapi_v1_msgs/msg/velocity_factor.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/accept_start.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/accept_start.md
new file mode 100644
index 00000000000..102db2aefdc
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/accept_start.md
@@ -0,0 +1,15 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/srv/AcceptStart
+
+## Definition
+
+```txt
+---
+uint16 ERROR_NOT_STARTING = 1
+autoware_adapi_v1_msgs/ResponseStatus status
+```
+
+## This type uses
+
+- [autoware_adapi_v1_msgs/msg/ResponseStatus](../../autoware_adapi_v1_msgs/msg/response_status.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/change_operation_mode.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/change_operation_mode.md
new file mode 100644
index 00000000000..f1d98eb2d1e
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/change_operation_mode.md
@@ -0,0 +1,16 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/srv/ChangeOperationMode
+
+## Definition
+
+```txt
+---
+uint16 ERROR_NOT_AVAILABLE = 1
+uint16 ERROR_IN_TRANSITION = 2
+autoware_adapi_v1_msgs/ResponseStatus status
+```
+
+## This type uses
+
+- [autoware_adapi_v1_msgs/msg/ResponseStatus](../../autoware_adapi_v1_msgs/msg/response_status.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/clear_route.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/clear_route.md
new file mode 100644
index 00000000000..61301e0ff37
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/clear_route.md
@@ -0,0 +1,14 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/srv/ClearRoute
+
+## Definition
+
+```txt
+---
+autoware_adapi_v1_msgs/ResponseStatus status
+```
+
+## This type uses
+
+- [autoware_adapi_v1_msgs/msg/ResponseStatus](../../autoware_adapi_v1_msgs/msg/response_status.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/initialize_localization.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/initialize_localization.md
new file mode 100644
index 00000000000..a6a4f2c08ce
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/initialize_localization.md
@@ -0,0 +1,19 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/srv/InitializeLocalization
+
+## Definition
+
+```txt
+geometry_msgs/PoseWithCovarianceStamped[<=1] pose
+---
+uint16 ERROR_UNSAFE = 1
+uint16 ERROR_GNSS_SUPPORT = 2
+uint16 ERROR_GNSS = 3
+uint16 ERROR_ESTIMATION = 4
+autoware_adapi_v1_msgs/ResponseStatus status
+```
+
+## This type uses
+
+- [autoware_adapi_v1_msgs/msg/ResponseStatus](../../autoware_adapi_v1_msgs/msg/response_status.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/set_route.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/set_route.md
new file mode 100644
index 00000000000..390a6c18baf
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/set_route.md
@@ -0,0 +1,21 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/srv/SetRoute
+
+## Definition
+
+```txt
+std_msgs/Header header
+geometry_msgs/Pose goal
+autoware_adapi_v1_msgs/RouteSegment[] segments
+---
+uint16 ERROR_ROUTE_EXISTS = 1
+uint16 ERROR_PLANNER_UNREADY = 2
+uint16 ERROR_PLANNER_FAILED = 3
+autoware_adapi_v1_msgs/ResponseStatus status
+```
+
+## This type uses
+
+- [autoware_adapi_v1_msgs/msg/ResponseStatus](../../autoware_adapi_v1_msgs/msg/response_status.md)
+- [autoware_adapi_v1_msgs/msg/RouteSegment](../../autoware_adapi_v1_msgs/msg/route_segment.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/set_route_points.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/set_route_points.md
new file mode 100644
index 00000000000..b8e3222f4f6
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/srv/set_route_points.md
@@ -0,0 +1,20 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_v1_msgs/srv/SetRoutePoints
+
+## Definition
+
+```txt
+std_msgs/Header header
+geometry_msgs/Pose goal
+geometry_msgs/Pose[] waypoints
+---
+uint16 ERROR_ROUTE_EXISTS = 1
+uint16 ERROR_PLANNER_UNREADY = 2
+uint16 ERROR_PLANNER_FAILED = 3
+autoware_adapi_v1_msgs/ResponseStatus status
+```
+
+## This type uses
+
+- [autoware_adapi_v1_msgs/msg/ResponseStatus](../../autoware_adapi_v1_msgs/msg/response_status.md)
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_version_msgs/srv/interface_version.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_version_msgs/srv/interface_version.md
new file mode 100644
index 00000000000..bbe46ec64c6
--- /dev/null
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_version_msgs/srv/interface_version.md
@@ -0,0 +1,16 @@
+<!-- This file is generated by a tool. Do not edit directly. -->
+
+# autoware_adapi_version_msgs/srv/InterfaceVersion
+
+## Definition
+
+```txt
+---
+uint16 major
+uint16 minor
+uint16 patch
+```
+
+## This type uses
+
+None