diff --git a/autoware_internal_debug_msgs/CMakeLists.txt b/autoware_internal_debug_msgs/CMakeLists.txt
index 74a8a3b..9739610 100644
--- a/autoware_internal_debug_msgs/CMakeLists.txt
+++ b/autoware_internal_debug_msgs/CMakeLists.txt
@@ -15,6 +15,8 @@ set(msg_files
   "msg/Int64Stamped.msg"
   "msg/Int64MultiArrayStamped.msg"
   "msg/StringStamped.msg"
+  "msg/ProcessingTimeNode.msg"
+  "msg/ProcessingTimeTree.msg"
 )
 
 set(srv_files
diff --git a/autoware_internal_debug_msgs/msg/ProcessingTimeNode.msg b/autoware_internal_debug_msgs/msg/ProcessingTimeNode.msg
new file mode 100644
index 0000000..e7d4409
--- /dev/null
+++ b/autoware_internal_debug_msgs/msg/ProcessingTimeNode.msg
@@ -0,0 +1,10 @@
+# Unique ID of the node
+int32 id
+# Name of the node
+string name
+# Processing time of the node
+float64 processing_time
+# ID of the parent node, 0 if no parent
+int32 parent_id
+# Comment
+string comment
diff --git a/autoware_internal_debug_msgs/msg/ProcessingTimeTree.msg b/autoware_internal_debug_msgs/msg/ProcessingTimeTree.msg
new file mode 100644
index 0000000..0e7be75
--- /dev/null
+++ b/autoware_internal_debug_msgs/msg/ProcessingTimeTree.msg
@@ -0,0 +1,2 @@
+# Array of all time nodes
+ProcessingTimeNode[] nodes
diff --git a/autoware_internal_planning_msgs/CMakeLists.txt b/autoware_internal_planning_msgs/CMakeLists.txt
index 5dc7a71..7fe90aa 100644
--- a/autoware_internal_planning_msgs/CMakeLists.txt
+++ b/autoware_internal_planning_msgs/CMakeLists.txt
@@ -15,6 +15,9 @@ find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/PathPoint.msg"
+  "msg/PathPointWithLaneId.msg"
+  "msg/PathWithLaneId.msg"
   "msg/Scenario.msg"
   DEPENDENCIES
     builtin_interfaces
diff --git a/autoware_internal_planning_msgs/msg/PathPoint.msg b/autoware_internal_planning_msgs/msg/PathPoint.msg
new file mode 100644
index 0000000..697681f
--- /dev/null
+++ b/autoware_internal_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_internal_planning_msgs/msg/PathPointWithLaneId.msg b/autoware_internal_planning_msgs/msg/PathPointWithLaneId.msg
new file mode 100644
index 0000000..25a02d2
--- /dev/null
+++ b/autoware_internal_planning_msgs/msg/PathPointWithLaneId.msg
@@ -0,0 +1,2 @@
+autoware_internal_planning_msgs/PathPoint point
+int64[] lane_ids
diff --git a/autoware_internal_planning_msgs/msg/PathWithLaneId.msg b/autoware_internal_planning_msgs/msg/PathWithLaneId.msg
new file mode 100644
index 0000000..27a74bc
--- /dev/null
+++ b/autoware_internal_planning_msgs/msg/PathWithLaneId.msg
@@ -0,0 +1,4 @@
+std_msgs/Header header
+autoware_internal_planning_msgs/PathPointWithLaneId[] points
+geometry_msgs/Point[] left_bound
+geometry_msgs/Point[] right_bound