diff --git a/tier4_control_msgs/CMakeLists.txt b/tier4_control_msgs/CMakeLists.txt
index 95f272d5..a5310be7 100644
--- a/tier4_control_msgs/CMakeLists.txt
+++ b/tier4_control_msgs/CMakeLists.txt
@@ -21,6 +21,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/IsStartRequested.msg"
   "msg/IsPaused.msg"
   "srv/SetPause.srv"
+  "msg/IsStopped.msg"
+  "srv/SetStop.srv"
   DEPENDENCIES
     autoware_common_msgs
     std_msgs
diff --git a/tier4_control_msgs/msg/IsStopped.msg b/tier4_control_msgs/msg/IsStopped.msg
new file mode 100644
index 00000000..8b4994f7
--- /dev/null
+++ b/tier4_control_msgs/msg/IsStopped.msg
@@ -0,0 +1,3 @@
+builtin_interfaces/Time stamp
+bool data
+string[] requested_sources
diff --git a/tier4_control_msgs/srv/SetStop.srv b/tier4_control_msgs/srv/SetStop.srv
new file mode 100644
index 00000000..797b9e7c
--- /dev/null
+++ b/tier4_control_msgs/srv/SetStop.srv
@@ -0,0 +1,4 @@
+bool stop
+string request_source
+---
+autoware_common_msgs/ResponseStatus status