diff --git a/common/trtexec_vendor/CMakeLists.txt b/common/trtexec_vendor/CMakeLists.txt
new file mode 100644
index 0000000000000..08afcb9333875
--- /dev/null
+++ b/common/trtexec_vendor/CMakeLists.txt
@@ -0,0 +1,84 @@
+cmake_minimum_required(VERSION 3.14)
+project(trtexec_vendor)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(CUDA)
+find_package(cudnn_cmake_module REQUIRED)
+find_package(CUDNN)
+find_package(tensorrt_cmake_module REQUIRED)
+find_package(TENSORRT)
+
+if(NOT (${CUDA_FOUND} AND ${CUDNN_FOUND} AND ${TENSORRT_FOUND}))
+  message(WARNING "cuda, cudnn, tensorrt libraries are not found")
+  return()
+endif()
+
+set(TRTEXEC_DEFAULT_BIN /usr/src/tensorrt/bin/trtexec)
+if(NOT EXISTS TRTEXEC_DEFAULT_BIN)
+  include(FetchContent)
+  if(${TENSORRT_VERSION} VERSION_EQUAL 8.4.2)
+    set(TENSORRT_VERSION 8.4.1)
+  endif()
+  if(${TENSORRT_VERSION} VERSION_EQUAL 8.2.4)
+    set(TENSORRT_VERSION 8.2.1)
+  endif()
+  fetchcontent_declare(tensorrt
+    GIT_REPOSITORY https://github.com/NVIDIA/TensorRT
+    GIT_TAG ${TENSORRT_VERSION}
+    GIT_SUBMODULES ""
+  )
+  fetchcontent_getproperties(tensorrt)
+  if(NOT tensorrt_POPULATED)
+    fetchcontent_populate(tensorrt)
+  endif()
+  set(TRTEXEC_SOURCES
+    ${tensorrt_SOURCE_DIR}/samples/trtexec/trtexec.cpp
+    ${tensorrt_SOURCE_DIR}/samples/common/sampleEngines.cpp
+    ${tensorrt_SOURCE_DIR}/samples/common/sampleInference.cpp
+    ${tensorrt_SOURCE_DIR}/samples/common/sampleOptions.cpp
+    ${tensorrt_SOURCE_DIR}/samples/common/sampleReporting.cpp
+    ${tensorrt_SOURCE_DIR}/samples/common/logger.cpp
+  )
+  if(${TENSORRT_VERSION} VERSION_GREATER_EQUAL 8.4)
+    list(APPEND TRTEXEC_SOURCES
+      ${tensorrt_SOURCE_DIR}/samples/common/sampleUtils.cpp
+    )
+  endif()
+  cuda_add_executable(${PROJECT_NAME}
+    ${TRTEXEC_SOURCES}
+  )
+  target_link_libraries(${PROJECT_NAME}
+    ${TENSORRT_LIBRARIES}
+  )
+  target_include_directories(${PROJECT_NAME}
+    PRIVATE ${tensorrt_SOURCE_DIR}/samples/common
+  )
+
+  set_target_properties(${PROJECT_NAME}
+    PROPERTIES OUTPUT_NAME trtexec
+  )
+
+  install(TARGETS ${PROJECT_NAME}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+  )
+endif()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.sh.in")
+
+ament_package()
diff --git a/common/trtexec_vendor/env-hooks/trtexec_vendor.sh.in b/common/trtexec_vendor/env-hooks/trtexec_vendor.sh.in
new file mode 100644
index 0000000000000..7c2ef456ecfec
--- /dev/null
+++ b/common/trtexec_vendor/env-hooks/trtexec_vendor.sh.in
@@ -0,0 +1,5 @@
+TRTEXEC_DEFAULT_BIN_DIR=/usr/src/tensorrt/bin
+TRTEXEC_DEFAULT_BIN=$TRTEXEC_DEFAULT_BIN_DIR/trtexec
+if [ -f $TRTEXEC_DEFAULT_BIN ]; then
+  ament_prepend_unique_value PATH $TRTEXEC_DEFAULT_BIN_DIR
+fi
diff --git a/common/trtexec_vendor/package.xml b/common/trtexec_vendor/package.xml
new file mode 100644
index 0000000000000..f197858060f3a
--- /dev/null
+++ b/common/trtexec_vendor/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>trtexec_vendor</name>
+  <version>0.1.0</version>
+  <description>The vendor package of trtexec</description>
+  <maintainer email="daisuke.nishimatsu@tier4.jp">Daisuke Nishimatsu</maintainer>
+  <license>Apache 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>cudnn_cmake_module</buildtool_depend>
+  <buildtool_depend>tensorrt_cmake_module</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>