diff --git a/autoware_v2x_msgs/CMakeLists.txt b/autoware_v2x_msgs/CMakeLists.txt
new file mode 100644
index 0000000..b917f72
--- /dev/null
+++ b/autoware_v2x_msgs/CMakeLists.txt
@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_v2x_msgs)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/VirtualGateAreaCommand.msg"
+  "msg/VirtualGateAreaStatus.msg"
+  "msg/VirtualGateCommand.msg"
+  "msg/VirtualGateStatus.msg"
+  "msg/VirtualGateVehicleInfo.msg"
+  DEPENDENCIES
+    builtin_interfaces
+    geometry_msgs
+    unique_identifier_msgs
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()
diff --git a/autoware_v2x_msgs/README.md b/autoware_v2x_msgs/README.md
new file mode 100644
index 0000000..e0226d0
--- /dev/null
+++ b/autoware_v2x_msgs/README.md
@@ -0,0 +1,5 @@
+# autoware_v2x_msgs
+
+## Virtual gate messages
+
+WIP
diff --git a/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg b/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg
new file mode 100644
index 0000000..0c3a1f0
--- /dev/null
+++ b/autoware_v2x_msgs/msg/VirtualGateAreaCommand.msg
@@ -0,0 +1,11 @@
+# constants for command
+uint16 ACQUIRE = 1
+uint16 RELEASE = 2
+
+uint16   command
+uint16   sequence
+string   type
+string   id
+string[] gates
+
+builtin_interfaces/Time[<=1] expected_time_arrival
diff --git a/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg b/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg
new file mode 100644
index 0000000..08888c3
--- /dev/null
+++ b/autoware_v2x_msgs/msg/VirtualGateAreaStatus.msg
@@ -0,0 +1,15 @@
+# constants for status
+uint16 RESERVED = 1
+uint16 ACQUIRED = 2
+uint16 RELEASED = 3
+
+uint16   status
+uint16   sequence
+string   type
+string   id
+string[] gates
+
+builtin_interfaces/Time[<=1] expected_time_arrival
+
+builtin_interfaces/Time stamp
+unique_identifier_msgs/UUID vehicle
diff --git a/autoware_v2x_msgs/msg/VirtualGateCommand.msg b/autoware_v2x_msgs/msg/VirtualGateCommand.msg
new file mode 100644
index 0000000..dce548a
--- /dev/null
+++ b/autoware_v2x_msgs/msg/VirtualGateCommand.msg
@@ -0,0 +1,3 @@
+builtin_interfaces/Time stamp
+autoware_v2x_msgs/VirtualGateAreaCommand[] areas
+autoware_v2x_msgs/VirtualGateVehicleInfo vehicle
diff --git a/autoware_v2x_msgs/msg/VirtualGateStatus.msg b/autoware_v2x_msgs/msg/VirtualGateStatus.msg
new file mode 100644
index 0000000..a3d894a
--- /dev/null
+++ b/autoware_v2x_msgs/msg/VirtualGateStatus.msg
@@ -0,0 +1,2 @@
+builtin_interfaces/Time stamp
+autoware_v2x_msgs/VirtualGateAreaStatus[] areas
diff --git a/autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg b/autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg
new file mode 100644
index 0000000..499951e
--- /dev/null
+++ b/autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg
@@ -0,0 +1,2 @@
+unique_identifier_msgs/UUID uuid
+geometry_msgs/PoseStamped[<=1] pose
diff --git a/autoware_v2x_msgs/package.xml b/autoware_v2x_msgs/package.xml
new file mode 100644
index 0000000..014c0ce
--- /dev/null
+++ b/autoware_v2x_msgs/package.xml
@@ -0,0 +1,28 @@
+<?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>autoware_v2x_msgs</name>
+  <version>1.0.0</version>
+  <description>Autoware common messages package.</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <depend>builtin_interfaces</depend>
+  <depend>geometry_msgs</depend>
+  <depend>unique_identifier_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>