diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt
index 1eeaafe..b0c4669 100644
--- a/autoware_adapi_v1_msgs/CMakeLists.txt
+++ b/autoware_adapi_v1_msgs/CMakeLists.txt
@@ -68,10 +68,12 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   vehicle/msg/TurnIndicators.msg
   vehicle/msg/VehicleStatus.msg
   vehicle/msg/VehicleDimensions.msg
+  vehicle/msg/VehicleSpecs.msg
   vehicle/msg/VehicleKinematics.msg
   vehicle/srv/SetDoorCommand.srv
   vehicle/srv/GetDoorLayout.srv
   vehicle/srv/GetVehicleDimensions.srv
+  vehicle/srv/GetVehicleSpecs.srv
   DEPENDENCIES
     builtin_interfaces
     geographic_msgs
diff --git a/autoware_adapi_v1_msgs/vehicle/msg/VehicleSpecs.msg b/autoware_adapi_v1_msgs/vehicle/msg/VehicleSpecs.msg
new file mode 100644
index 0000000..1fbb0a2
--- /dev/null
+++ b/autoware_adapi_v1_msgs/vehicle/msg/VehicleSpecs.msg
@@ -0,0 +1 @@
+float32 max_steering_tire_angle
diff --git a/autoware_adapi_v1_msgs/vehicle/srv/GetVehicleSpecs.srv b/autoware_adapi_v1_msgs/vehicle/srv/GetVehicleSpecs.srv
new file mode 100644
index 0000000..45524f7
--- /dev/null
+++ b/autoware_adapi_v1_msgs/vehicle/srv/GetVehicleSpecs.srv
@@ -0,0 +1,3 @@
+---
+autoware_adapi_v1_msgs/ResponseStatus status
+autoware_adapi_v1_msgs/VehicleSpecs specs