diff --git a/autoware-nightly.repos b/autoware-nightly.repos
index 0b58999fd4..49da4fee81 100644
--- a/autoware-nightly.repos
+++ b/autoware-nightly.repos
@@ -1,4 +1,8 @@
 repositories:
+  core/autoware_adapi_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
+    version: main
   core/autoware.core:
     type: git
     url: https://github.com/autowarefoundation/autoware.core.git
diff --git a/autoware.repos b/autoware.repos
index 17d2e85d8b..17ad277cf9 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -4,6 +4,7 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
     version: 1.2.0
+  # TODO (isamu-takagi): Use a released version when autoware.universe uses a released version.
   core/autoware_adapi_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git