diff --git a/common/autoware_ad_api_specs/README.md b/common/autoware_ad_api_specs/README.md
new file mode 100644
index 0000000000000..6683bcdb3a51d
--- /dev/null
+++ b/common/autoware_ad_api_specs/README.md
@@ -0,0 +1,3 @@
+# autoware_adapi_specs
+
+This package is a specification of Autoware AD API.
diff --git a/common/component_interface_specs/README.md b/common/component_interface_specs/README.md
new file mode 100644
index 0000000000000..b9fcd83a29dc0
--- /dev/null
+++ b/common/component_interface_specs/README.md
@@ -0,0 +1,3 @@
+# component_interface_specs
+
+This package is a specification of component interfaces.
diff --git a/common/component_interface_tools/README.md b/common/component_interface_tools/README.md
new file mode 100644
index 0000000000000..630483acc1d9e
--- /dev/null
+++ b/common/component_interface_tools/README.md
@@ -0,0 +1,7 @@
+# component_interface_tools
+
+This package provides the following tools for component interface.
+
+## service_log_checker
+
+Monitor the service log of component_interface_utils and display if the response status is an error.
diff --git a/common/tier4_api_utils/README.md b/common/tier4_api_utils/README.md
new file mode 100644
index 0000000000000..3af88bc32d619
--- /dev/null
+++ b/common/tier4_api_utils/README.md
@@ -0,0 +1,4 @@
+# tier4_api_utils
+
+This is an old implementation of a class that logs when calling a service.
+Please use [component_interface_utils](../component_interface_utils/README.md) instead.
diff --git a/system/component_state_monitor/README.md b/system/component_state_monitor/README.md
new file mode 100644
index 0000000000000..327c7b7651caf
--- /dev/null
+++ b/system/component_state_monitor/README.md
@@ -0,0 +1,5 @@
+# component_state_monitor
+
+The component state monitor checks the state of each component using topic state monitor.
+This is an implementation for backward compatibility with the AD service state monitor.
+It will be replaced in the future using a diagnostics tree.