diff --git a/autoware_sensing_msgs/CMakeLists.txt b/autoware_sensing_msgs/CMakeLists.txt
index 3457098..24dfedc 100644
--- a/autoware_sensing_msgs/CMakeLists.txt
+++ b/autoware_sensing_msgs/CMakeLists.txt
@@ -6,7 +6,13 @@ ament_auto_find_build_dependencies()
 
 set(msg_files
   "msg/GnssInsOrientation.msg"
-  "msg/GnssInsOrientationStamped.msg")
+  "msg/GnssInsOrientationStamped.msg"
+  "msg/RadarClassification.msg"
+  "msg/RadarFieldInfo.msg"
+  "msg/RadarInfo.msg"
+  "msg/RadarObject.msg"
+  "msg/RadarObjects.msg"
+)
 
 set(msg_dependencies
   geometry_msgs
diff --git a/autoware_sensing_msgs/msg/RadarClassification.msg b/autoware_sensing_msgs/msg/RadarClassification.msg
new file mode 100644
index 0000000..963f132
--- /dev/null
+++ b/autoware_sensing_msgs/msg/RadarClassification.msg
@@ -0,0 +1,18 @@
+# Common classes with autoware_perception_msgs/msg/ObjectClassification.msg
+uint32 UNKNOWN = 0
+uint32 CAR = 1
+uint32 TRUCK = 2
+uint32 BUS = 3
+uint32 TRAILER = 4
+uint32 MOTORCYCLE = 5
+uint32 BICYCLE = 6
+uint32 PEDESTRIAN = 7
+
+# Radar specific classes
+uint32 ANIMAL = 8
+uint32 HAZARD = 9
+uint32 OVER_DRIVABLE = 10
+uint32 UNDER_DRIVABLE = 11
+
+uint32 label
+float32 probability
diff --git a/autoware_sensing_msgs/msg/RadarFieldInfo.msg b/autoware_sensing_msgs/msg/RadarFieldInfo.msg
new file mode 100644
index 0000000..48bb570
--- /dev/null
+++ b/autoware_sensing_msgs/msg/RadarFieldInfo.msg
@@ -0,0 +1,8 @@
+std_msgs/String field_name
+bool min_value_available
+bool max_value_available
+bool resolution_available
+
+float32 min_value
+float32 max_value
+float32 resolution
diff --git a/autoware_sensing_msgs/msg/RadarInfo.msg b/autoware_sensing_msgs/msg/RadarInfo.msg
new file mode 100644
index 0000000..7996f1c
--- /dev/null
+++ b/autoware_sensing_msgs/msg/RadarInfo.msg
@@ -0,0 +1,6 @@
+std_msgs/Header header
+RadarFieldInfo[] object_fields_info
+RadarFieldInfo[] detection_fields_info
+
+uint32[] available_classes
+bool absolute_dynamics # absolute or relative dynamics
diff --git a/autoware_sensing_msgs/msg/RadarObject.msg b/autoware_sensing_msgs/msg/RadarObject.msg
new file mode 100644
index 0000000..5ecee5a
--- /dev/null
+++ b/autoware_sensing_msgs/msg/RadarObject.msg
@@ -0,0 +1,35 @@
+float32 INVALID_COV_VALUE = 100000000.0
+
+uint8 MEASUREMENT_STATUS_MEASURED = 0
+uint8 MEASUREMENT_STATUS_PREDICTED = 1
+uint8 MEASUREMENT_STATUS_NEW = 2
+uint8 MEASUREMENT_STATUS_UNKNOWN = 3
+uint8 MEASUREMENT_STATUS_INVALID = 255
+
+uint8 MOVEMENT_STATUS_DYNAMIC = 0
+uint8 MOVEMENT_STATUS_STATIC = 1
+uint8 MOVEMENT_STATUS_UNKNOWN = 2
+uint8 MOVEMENT_STATUS_INVALID = 255
+
+uint32 object_id
+uint16 age
+uint8 measurement_status
+uint8 movement_status
+
+geometry_msgs/Point position
+geometry_msgs/Vector3 velocity
+geometry_msgs/Vector3 acceleration
+geometry_msgs/Vector3 shape
+
+float32[6] position_cov
+float32[6] velocity_cov
+float32[6] acceleration_cov
+float32[6] shape_cov
+
+float32 orientation
+float32 orientation_std
+float32 orientation_rate
+float32 orientation_rate_std
+
+float32 existence_probability
+RadarClassification[] classifications
diff --git a/autoware_sensing_msgs/msg/RadarObjects.msg b/autoware_sensing_msgs/msg/RadarObjects.msg
new file mode 100644
index 0000000..aa7aaf7
--- /dev/null
+++ b/autoware_sensing_msgs/msg/RadarObjects.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header
+RadarObject[] objects