diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt
index 91ffe11..85fa084 100644
--- a/autoware_adapi_v1_msgs/CMakeLists.txt
+++ b/autoware_adapi_v1_msgs/CMakeLists.txt
@@ -59,6 +59,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   vehicle/srv/SetDoorCommand.srv
   vehicle/srv/GetDoorLayout.srv
   vehicle/srv/GetVehicleDimensions.srv
+  vehicle/msg/VehicleId.msg
+  vehicle/srv/GetVehicleIds.srv
   DEPENDENCIES
     builtin_interfaces
     geographic_msgs
diff --git a/autoware_adapi_v1_msgs/vehicle/msg/VehicleId.msg b/autoware_adapi_v1_msgs/vehicle/msg/VehicleId.msg
new file mode 100644
index 0000000..bda933b
--- /dev/null
+++ b/autoware_adapi_v1_msgs/vehicle/msg/VehicleId.msg
@@ -0,0 +1,2 @@
+string type
+strint id
diff --git a/autoware_adapi_v1_msgs/vehicle/srv/GetVehicleIds.srv b/autoware_adapi_v1_msgs/vehicle/srv/GetVehicleIds.srv
new file mode 100644
index 0000000..8214f82
--- /dev/null
+++ b/autoware_adapi_v1_msgs/vehicle/srv/GetVehicleIds.srv
@@ -0,0 +1,3 @@
+---
+autoware_adapi_v1_msgs/ResponseStatus status
+autoware_adapi_v1_msgs/VehicleId[] ids