diff --git a/tier4_system_msgs/CMakeLists.txt b/tier4_system_msgs/CMakeLists.txt
index 9cce43e..5cee8d6 100644
--- a/tier4_system_msgs/CMakeLists.txt
+++ b/tier4_system_msgs/CMakeLists.txt
@@ -37,6 +37,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/HazardStatusStamped.msg"
   "msg/ServiceLog.msg"
   "msg/ModeChangeAvailable.msg"
+  "msg/MrmBehavior.msg"
   "msg/MrmBehaviorStatus.msg"
   "srv/OperateMrm.srv"
   "srv/ChangeOperationMode.srv"
diff --git a/tier4_system_msgs/msg/MrmBehavior.msg b/tier4_system_msgs/msg/MrmBehavior.msg
new file mode 100644
index 0000000..a6de8f2
--- /dev/null
+++ b/tier4_system_msgs/msg/MrmBehavior.msg
@@ -0,0 +1,10 @@
+builtin_interfaces/Time stamp
+
+# For behavior
+uint16 UNKNOWN = 0
+uint16 NONE = 1
+uint16 EMERGENCY_STOP = 2
+uint16 COMFORTABLE_STOP = 3
+uint16 PULL_OVER = 4
+
+uint16 type
\ No newline at end of file