diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt
index 7b2bec9..de098dc 100644
--- a/autoware_adapi_v1_msgs/CMakeLists.txt
+++ b/autoware_adapi_v1_msgs/CMakeLists.txt
@@ -6,6 +6,7 @@ ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   common/msg/ResponseStatus.msg
+  common/msg/KvString.msg
   localization/msg/LocalizationInitializationState.msg
   localization/srv/InitializeLocalization.srv
   manual/msg/PedalsCommand.msg
@@ -61,9 +62,12 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   system/msg/Heartbeat.msg
   system/msg/DiagGraphStruct.msg
   system/msg/DiagGraphStatus.msg
-  system/msg/DiagLinkStruct.msg
+  system/msg/DiagLeafStruct.msg
+  system/msg/DiagLeafStatus.msg
   system/msg/DiagNodeStruct.msg
   system/msg/DiagNodeStatus.msg
+  system/msg/DiagLinkStruct.msg
+  system/srv/ResetDiagGraph.srv
   vehicle/msg/DoorCommand.msg
   vehicle/msg/DoorLayout.msg
   vehicle/msg/DoorStatus.msg
diff --git a/autoware_adapi_v1_msgs/common/msg/KvString.msg b/autoware_adapi_v1_msgs/common/msg/KvString.msg
new file mode 100644
index 0000000..6f825d5
--- /dev/null
+++ b/autoware_adapi_v1_msgs/common/msg/KvString.msg
@@ -0,0 +1,2 @@
+string key
+string value
diff --git a/autoware_adapi_v1_msgs/system/msg/DiagGraphStatus.msg b/autoware_adapi_v1_msgs/system/msg/DiagGraphStatus.msg
index 65f966f..a72b58b 100644
--- a/autoware_adapi_v1_msgs/system/msg/DiagGraphStatus.msg
+++ b/autoware_adapi_v1_msgs/system/msg/DiagGraphStatus.msg
@@ -1,3 +1,4 @@
 builtin_interfaces/Time stamp
 string id
 autoware_adapi_v1_msgs/DiagNodeStatus[] nodes
+autoware_adapi_v1_msgs/DiagLeafStatus[] diags
diff --git a/autoware_adapi_v1_msgs/system/msg/DiagGraphStruct.msg b/autoware_adapi_v1_msgs/system/msg/DiagGraphStruct.msg
index a696d84..4a7501e 100644
--- a/autoware_adapi_v1_msgs/system/msg/DiagGraphStruct.msg
+++ b/autoware_adapi_v1_msgs/system/msg/DiagGraphStruct.msg
@@ -1,4 +1,5 @@
 builtin_interfaces/Time stamp
 string id
 autoware_adapi_v1_msgs/DiagNodeStruct[] nodes
+autoware_adapi_v1_msgs/DiagLeafStruct[] diags
 autoware_adapi_v1_msgs/DiagLinkStruct[] links
diff --git a/autoware_adapi_v1_msgs/system/msg/DiagLeafStatus.msg b/autoware_adapi_v1_msgs/system/msg/DiagLeafStatus.msg
new file mode 100644
index 0000000..d1fd74b
--- /dev/null
+++ b/autoware_adapi_v1_msgs/system/msg/DiagLeafStatus.msg
@@ -0,0 +1,6 @@
+# The level of diagnostic_msgs/msg/DiagnosticStatus.
+byte level
+byte input_level
+string message
+string hardware_id
+autoware_adapi_v1_msgs/KvString[] values
diff --git a/autoware_adapi_v1_msgs/system/msg/DiagLeafStruct.msg b/autoware_adapi_v1_msgs/system/msg/DiagLeafStruct.msg
new file mode 100644
index 0000000..42f2bc1
--- /dev/null
+++ b/autoware_adapi_v1_msgs/system/msg/DiagLeafStruct.msg
@@ -0,0 +1 @@
+string name
diff --git a/autoware_adapi_v1_msgs/system/msg/DiagNodeStatus.msg b/autoware_adapi_v1_msgs/system/msg/DiagNodeStatus.msg
index 038ad74..7e94f2e 100644
--- a/autoware_adapi_v1_msgs/system/msg/DiagNodeStatus.msg
+++ b/autoware_adapi_v1_msgs/system/msg/DiagNodeStatus.msg
@@ -1,2 +1,5 @@
 # The level of diagnostic_msgs/msg/DiagnosticStatus.
 byte level
+byte input_level
+byte latch_level
+bool is_dependent
diff --git a/autoware_adapi_v1_msgs/system/srv/ResetDiagGraph.srv b/autoware_adapi_v1_msgs/system/srv/ResetDiagGraph.srv
new file mode 100644
index 0000000..301f78b
--- /dev/null
+++ b/autoware_adapi_v1_msgs/system/srv/ResetDiagGraph.srv
@@ -0,0 +1,2 @@
+---
+autoware_adapi_v1_msgs/ResponseStatus status