diff --git a/autoware_external_api_msgs/CMakeLists.txt b/autoware_external_api_msgs/CMakeLists.txt
index 9a4ec4f619e..ba3d41391b7 100644
--- a/autoware_external_api_msgs/CMakeLists.txt
+++ b/autoware_external_api_msgs/CMakeLists.txt
@@ -15,6 +15,7 @@ find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/ResponseStatus.msg
   srv/GetVersion.srv
   DEPENDENCIES
     tier4_external_api_msgs
diff --git a/autoware_external_api_msgs/msg/ResponseStatus.msg b/autoware_external_api_msgs/msg/ResponseStatus.msg
new file mode 100644
index 00000000000..b24e4034cab
--- /dev/null
+++ b/autoware_external_api_msgs/msg/ResponseStatus.msg
@@ -0,0 +1,13 @@
+# This message type is deprecated. However, this message type is maintained
+# because autoware_hmi_msgs (https://github.com/tier4/AutowareArchitectureProposal_msgs/tree/main/autoware_hmi_msgs)
+# depends on this message type.
+
+# constants
+uint32 SUCCESS=1
+uint32 IGNORED=2
+uint32 WARN=3
+uint32 ERROR=4
+
+# fields
+uint32 code
+string message