diff --git a/autoware_map_msgs/CMakeLists.txt b/autoware_map_msgs/CMakeLists.txt
index fd6806e..9948eae 100755
--- a/autoware_map_msgs/CMakeLists.txt
+++ b/autoware_map_msgs/CMakeLists.txt
@@ -7,13 +7,16 @@ ament_auto_find_build_dependencies()
 set(msg_files
   "msg/AreaInfo.msg"
   "msg/LaneletMapBin.msg"
+  "msg/LaneletMapMetaData.msg"
+  "msg/LaneletMapCellMetaData.msg"
   "msg/PointCloudMapCellWithID.msg"
   "msg/PointCloudMapCellMetaData.msg"
   "msg/PointCloudMapCellMetaDataWithID.msg"
   "msg/PointCloudMapMetaData.msg"
   "srv/GetPartialPointCloudMap.srv"
   "srv/GetDifferentialPointCloudMap.srv"
-  "srv/GetSelectedPointCloudMap.srv")
+  "srv/GetSelectedPointCloudMap.srv"
+  "srv/GetSelectedLanelet2Map.srv")
 
 set(msg_dependencies
   std_msgs
diff --git a/autoware_map_msgs/msg/LaneletMapCellMetaData.msg b/autoware_map_msgs/msg/LaneletMapCellMetaData.msg
new file mode 100644
index 0000000..b315396
--- /dev/null
+++ b/autoware_map_msgs/msg/LaneletMapCellMetaData.msg
@@ -0,0 +1,7 @@
+# Metadata of lanelet map cell
+
+string cell_id
+float64 min_x
+float64 max_x
+float64 min_y
+float64 max_y
diff --git a/autoware_map_msgs/msg/LaneletMapMetaData.msg b/autoware_map_msgs/msg/LaneletMapMetaData.msg
new file mode 100644
index 0000000..804eff3
--- /dev/null
+++ b/autoware_map_msgs/msg/LaneletMapMetaData.msg
@@ -0,0 +1,4 @@
+# Header
+std_msgs/Header header
+
+LaneletMapCellMetaData[] metadata_list
diff --git a/autoware_map_msgs/srv/GetSelectedLanelet2Map.srv b/autoware_map_msgs/srv/GetSelectedLanelet2Map.srv
new file mode 100644
index 0000000..3935da8
--- /dev/null
+++ b/autoware_map_msgs/srv/GetSelectedLanelet2Map.srv
@@ -0,0 +1,9 @@
+# Osm file ids which are selected to be loaded
+string[] cell_ids
+
+---
+# Header
+std_msgs/Header header
+
+# Newly loaded Lanelet map
+autoware_map_msgs/LaneletMapBin lanelet2_cells