diff --git a/tier4_system_msgs/CMakeLists.txt b/tier4_system_msgs/CMakeLists.txt
index 9cce43eb..6acb18fd 100644
--- a/tier4_system_msgs/CMakeLists.txt
+++ b/tier4_system_msgs/CMakeLists.txt
@@ -41,6 +41,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/OperateMrm.srv"
   "srv/ChangeOperationMode.srv"
   "srv/ChangeAutowareControl.srv"
+  "srv/ChangeTopicRelayControl.srv"
   DEPENDENCIES
     autoware_common_msgs
     builtin_interfaces
diff --git a/tier4_system_msgs/srv/ChangeTopicRelayControl.srv b/tier4_system_msgs/srv/ChangeTopicRelayControl.srv
new file mode 100644
index 00000000..2db13e7e
--- /dev/null
+++ b/tier4_system_msgs/srv/ChangeTopicRelayControl.srv
@@ -0,0 +1,3 @@
+bool relay_on
+---
+autoware_common_msgs/ResponseStatus status