diff --git a/src/level4_mode_manager_msgs/CMakeLists.txt b/src/level4_mode_manager_msgs/CMakeLists.txt
deleted file mode 100644
index cf2acdf..0000000
--- a/src/level4_mode_manager_msgs/CMakeLists.txt
+++ /dev/null
@@ -1,22 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(level4_mode_manager_msgs)
-
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
-
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/Level4Availability.msg"
-  "msg/Level4DrivingStatus.msg"
-  "srv/EnableLevel4Driving.srv"
-  DEPENDENCIES
-    builtin_interfaces
-    tier4_external_api_msgs
-  ADD_LINTER_TESTS
-)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_auto_package()
diff --git a/src/level4_mode_manager_msgs/msg/Level4Availability.msg b/src/level4_mode_manager_msgs/msg/Level4Availability.msg
deleted file mode 100644
index 2a3d968..0000000
--- a/src/level4_mode_manager_msgs/msg/Level4Availability.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-builtin_interfaces/Time stamp
-bool is_level4_available
diff --git a/src/level4_mode_manager_msgs/msg/Level4DrivingStatus.msg b/src/level4_mode_manager_msgs/msg/Level4DrivingStatus.msg
deleted file mode 100644
index 4bfd35c..0000000
--- a/src/level4_mode_manager_msgs/msg/Level4DrivingStatus.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-builtin_interfaces/Time stamp
-bool is_level4_driving
diff --git a/src/level4_mode_manager_msgs/package.xml b/src/level4_mode_manager_msgs/package.xml
deleted file mode 100644
index 4f09114..0000000
--- a/src/level4_mode_manager_msgs/package.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<?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>level4_mode_manager_msgs</name>
-  <version>0.1.0</version>
-  <description>msg and srv definitions for level4_mode_manager</description>
-  <maintainer email="taiki.yamada@tier4.jp">Taiki Yamada</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
-
-  <build_depend>rosidl_default_generators</build_depend>
-
-  <depend>builtin_interfaces</depend>
-  <depend>tier4_external_api_msgs</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>
diff --git a/src/level4_mode_manager_msgs/srv/EnableLevel4Driving.srv b/src/level4_mode_manager_msgs/srv/EnableLevel4Driving.srv
deleted file mode 100644
index c1a4a52..0000000
--- a/src/level4_mode_manager_msgs/srv/EnableLevel4Driving.srv
+++ /dev/null
@@ -1,6 +0,0 @@
-bool enable_level4_driving
----
-uint32 ERROR_NOT_INITIALIZED = 5
-uint32 ERROR_INVALID_LEVEL = 6
-uint32 ERROR_CANNOT_START_AUTOWARE = 7
-tier4_external_api_msgs/ResponseStatus status