diff --git a/autoware_planning_msgs/CMakeLists.txt b/autoware_planning_msgs/CMakeLists.txt
index 333c1a8..156dd80 100644
--- a/autoware_planning_msgs/CMakeLists.txt
+++ b/autoware_planning_msgs/CMakeLists.txt
@@ -9,10 +9,18 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/LaneletRoute.msg"
   "msg/LaneletSegment.msg"
   "msg/PoseWithUuidStamped.msg"
+  "msg/Trajectory.msg"
+  "msg/TrajectoryPoint.msg"
+  "msg/Path.msg"
+  "msg/PathPoint.msg"
+  "msg/PathWithLaneId.msg"
+  "msg/PathPointWithLaneId.msg"
   DEPENDENCIES
     geometry_msgs
     std_msgs
     unique_identifier_msgs
+    nav_msgs
+    builtin_interfaces
   ADD_LINTER_TESTS
 )
 
diff --git a/autoware_planning_msgs/msg/Path.msg b/autoware_planning_msgs/msg/Path.msg
new file mode 100644
index 0000000..91633ff
--- /dev/null
+++ b/autoware_planning_msgs/msg/Path.msg
@@ -0,0 +1,4 @@
+std_msgs/Header header
+autoware_planning_msgs/PathPoint[] points
+geometry_msgs/Point[] left_bound
+geometry_msgs/Point[] right_bound
diff --git a/autoware_planning_msgs/msg/PathPoint.msg b/autoware_planning_msgs/msg/PathPoint.msg
new file mode 100644
index 0000000..697681f
--- /dev/null
+++ b/autoware_planning_msgs/msg/PathPoint.msg
@@ -0,0 +1,5 @@
+geometry_msgs/Pose pose
+float32 longitudinal_velocity_mps
+float32 lateral_velocity_mps
+float32 heading_rate_rps
+bool is_final
diff --git a/autoware_planning_msgs/msg/PathPointWithLaneId.msg b/autoware_planning_msgs/msg/PathPointWithLaneId.msg
new file mode 100644
index 0000000..19eea9f
--- /dev/null
+++ b/autoware_planning_msgs/msg/PathPointWithLaneId.msg
@@ -0,0 +1,2 @@
+autoware_planning_msgs/PathPoint point
+int64[] lane_ids
diff --git a/autoware_planning_msgs/msg/PathWithLaneId.msg b/autoware_planning_msgs/msg/PathWithLaneId.msg
new file mode 100644
index 0000000..4041d78
--- /dev/null
+++ b/autoware_planning_msgs/msg/PathWithLaneId.msg
@@ -0,0 +1,4 @@
+std_msgs/Header header
+autoware_planning_msgs/PathPointWithLaneId[] points
+geometry_msgs/Point[] left_bound
+geometry_msgs/Point[] right_bound
diff --git a/autoware_planning_msgs/msg/Trajectory.msg b/autoware_planning_msgs/msg/Trajectory.msg
new file mode 100644
index 0000000..3adafba
--- /dev/null
+++ b/autoware_planning_msgs/msg/Trajectory.msg
@@ -0,0 +1,3 @@
+uint32 CAPACITY = 10000
+std_msgs/Header header
+autoware_planning_msgs/TrajectoryPoint[10000] points
diff --git a/autoware_planning_msgs/msg/TrajectoryPoint.msg b/autoware_planning_msgs/msg/TrajectoryPoint.msg
new file mode 100644
index 0000000..613ae4c
--- /dev/null
+++ b/autoware_planning_msgs/msg/TrajectoryPoint.msg
@@ -0,0 +1,8 @@
+builtin_interfaces/Duration time_from_start
+geometry_msgs/Pose pose
+float32 longitudinal_velocity_mps
+float32 lateral_velocity_mps
+float32 acceleration_mps2
+float32 heading_rate_rps
+float32 front_wheel_angle_rad
+float32 rear_wheel_angle_rad
diff --git a/autoware_planning_msgs/package.xml b/autoware_planning_msgs/package.xml
index d186898..e0ad5fd 100644
--- a/autoware_planning_msgs/package.xml
+++ b/autoware_planning_msgs/package.xml
@@ -11,7 +11,9 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
+  <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
   <depend>std_msgs</depend>
   <depend>unique_identifier_msgs</depend>