diff --git a/tier4_debug_msgs/CMakeLists.txt b/tier4_debug_msgs/CMakeLists.txt
index c82be47..dff0fc6 100644
--- a/tier4_debug_msgs/CMakeLists.txt
+++ b/tier4_debug_msgs/CMakeLists.txt
@@ -29,6 +29,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/StringStamped.msg"
   "msg/ProcessingTimeNode.msg"
   "msg/ProcessingTimeTree.msg"
+  "msg/SystemUsage.msg"
+  "msg/SystemUsageArray.msg"
   DEPENDENCIES
   builtin_interfaces
 )
diff --git a/tier4_debug_msgs/msg/SystemUsage.msg b/tier4_debug_msgs/msg/SystemUsage.msg
new file mode 100644
index 0000000..4aa7cdf
--- /dev/null
+++ b/tier4_debug_msgs/msg/SystemUsage.msg
@@ -0,0 +1,4 @@
+string name # unique name to denote the process
+int64 pid # process id
+float64 cpu_usage # [%]
+float64 memory_usage # [Byte]
diff --git a/tier4_debug_msgs/msg/SystemUsageArray.msg b/tier4_debug_msgs/msg/SystemUsageArray.msg
new file mode 100644
index 0000000..1380dcb
--- /dev/null
+++ b/tier4_debug_msgs/msg/SystemUsageArray.msg
@@ -0,0 +1,3 @@
+builtin_interfaces/Time stamp
+
+SystemUsage[] system_usage