diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..d5417cb
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_internal_msgs)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+set(msg_files
+  "msg/PublishedTime.msg")
+
+set(msg_dependencies
+  builtin_interfaces)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  DEPENDENCIES ${msg_dependencies}
+)
+
+ament_auto_package()
diff --git a/msg/PublishedTime.msg b/msg/PublishedTime.msg
new file mode 100644
index 0000000..d060ec2
--- /dev/null
+++ b/msg/PublishedTime.msg
@@ -0,0 +1,7 @@
+# The debug message which includes header and publishing timestamp
+
+# Message header time
+builtin_interfaces/Time header_stamp
+
+# Timestamp when the message was published
+builtin_interfaces/Time published_stamp
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..1e246f0
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,24 @@
+<?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_internal_msgs</name>
+  <version>1.0.0</version>
+  <description>Autoware internal messages package.</description>
+  <maintainer email="berkay@leodrive.ai">Berkay Karaman</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <depend>builtin_interfaces</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>