diff --git a/dummy/dummy_gear_cmd_publisher/CMakeLists.txt b/dummy/dummy_gear_cmd_publisher/CMakeLists.txt
new file mode 100644
index 0000000000000..40d07b77d6a22
--- /dev/null
+++ b/dummy/dummy_gear_cmd_publisher/CMakeLists.txt
@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.14)
+project(dummy_gear_cmd_publisher)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(dummy_gear_cmd_publisher SHARED
+ src/dummy_gear_cmd_publisher.cpp
+)
+ament_target_dependencies(dummy_gear_cmd_publisher)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+ PLUGIN "dummy_gear_cmd_publisher::DummyGearCmdPublisher"
+ EXECUTABLE ${PROJECT_NAME}_node
+)
+
+ament_auto_package(
+ INSTALL_TO_SHARE
+ launch
+ config
+)
diff --git a/dummy/dummy_gear_cmd_publisher/README.md b/dummy/dummy_gear_cmd_publisher/README.md
new file mode 100644
index 0000000000000..46a9957bc3760
--- /dev/null
+++ b/dummy/dummy_gear_cmd_publisher/README.md
@@ -0,0 +1,23 @@
+# Dummy Gear Cmd Publisher
+
+## Purpose
+
+## Inner-workings / Algorithms
+
+## Inputs / Outputs
+
+### Input
+
+### Output
+
+## Parameters
+
+## Assumptions / Known limits
+
+## (Optional) Error detection and handling
+
+## (Optional) Performance characterization
+
+## (Optional) References/External links
+
+## (Optional) Future extensions / Unimplemented parts
diff --git a/dummy/dummy_gear_cmd_publisher/config/dummy_gear_cmd_publisher.param.yaml b/dummy/dummy_gear_cmd_publisher/config/dummy_gear_cmd_publisher.param.yaml
new file mode 100644
index 0000000000000..a20dbd7ffd3d9
--- /dev/null
+++ b/dummy/dummy_gear_cmd_publisher/config/dummy_gear_cmd_publisher.param.yaml
@@ -0,0 +1,2 @@
+/**:
+ ros__parameters:
diff --git a/dummy/dummy_gear_cmd_publisher/launch/dummy_gear_cmd_publisher.launch.xml b/dummy/dummy_gear_cmd_publisher/launch/dummy_gear_cmd_publisher.launch.xml
new file mode 100644
index 0000000000000..8d98f6035dd16
--- /dev/null
+++ b/dummy/dummy_gear_cmd_publisher/launch/dummy_gear_cmd_publisher.launch.xml
@@ -0,0 +1,7 @@
+
+
+
+
+
+
+
diff --git a/dummy/dummy_gear_cmd_publisher/package.xml b/dummy/dummy_gear_cmd_publisher/package.xml
new file mode 100644
index 0000000000000..7ef58f4d7bebf
--- /dev/null
+++ b/dummy/dummy_gear_cmd_publisher/package.xml
@@ -0,0 +1,25 @@
+
+
+
+ dummy_gear_cmd_publisher
+ 0.1.0
+ The dummy_gear_cmd_publisher package
+ Makoto Kurihara
+ Apache License 2.0
+
+ ament_cmake_auto
+
+ autoware_cmake
+
+
+ autoware_auto_vehicle_msgs
+ rclcpp
+ rclcpp_components
+
+ ament_lint_auto
+ autoware_lint_common
+
+
+ ament_cmake
+
+
diff --git a/dummy/dummy_gear_cmd_publisher/src/dummy_gear_cmd_publisher.cpp b/dummy/dummy_gear_cmd_publisher/src/dummy_gear_cmd_publisher.cpp
new file mode 100644
index 0000000000000..cfaee363da550
--- /dev/null
+++ b/dummy/dummy_gear_cmd_publisher/src/dummy_gear_cmd_publisher.cpp
@@ -0,0 +1,57 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "dummy_gear_cmd_publisher.hpp"
+
+namespace dummy_gear_cmd_publisher
+{
+
+DummyGearCmdPublisher::DummyGearCmdPublisher(const rclcpp::NodeOptions & node_options)
+: Node("dummy_gear_cmd_publisher", node_options)
+{
+ // Parameter
+
+ // Subscriber
+
+ // Publisher
+ pub_gear_cmd_ =
+ create_publisher("~/output/gear_cmd", 10);
+
+ // Service
+
+ // Client
+
+ // Timer
+ using namespace std::literals::chrono_literals;
+ timer_ =
+ rclcpp::create_timer(this, get_clock(), 1s, std::bind(&DummyGearCmdPublisher::onTimer, this));
+
+ // State
+
+ // Diagnostics
+}
+
+void DummyGearCmdPublisher::onTimer()
+{
+ autoware_auto_vehicle_msgs::msg::GearCommand msg;
+ msg.stamp = this->now();
+ msg.command = autoware_auto_vehicle_msgs::msg::GearCommand::DRIVE;
+
+ pub_gear_cmd_->publish(msg);
+}
+
+} // namespace dummy_gear_cmd_publisher
+
+#include
+RCLCPP_COMPONENTS_REGISTER_NODE(dummy_gear_cmd_publisher::DummyGearCmdPublisher)
diff --git a/dummy/dummy_gear_cmd_publisher/src/dummy_gear_cmd_publisher.hpp b/dummy/dummy_gear_cmd_publisher/src/dummy_gear_cmd_publisher.hpp
new file mode 100644
index 0000000000000..35deaeb8abe32
--- /dev/null
+++ b/dummy/dummy_gear_cmd_publisher/src/dummy_gear_cmd_publisher.hpp
@@ -0,0 +1,55 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef DUMMY_GEAR_CMD_PUBLISHER_HPP_
+#define DUMMY_GEAR_CMD_PUBLISHER_HPP_
+
+// include
+#include
+
+#include
+
+namespace dummy_gear_cmd_publisher
+{
+
+class DummyGearCmdPublisher : public rclcpp::Node
+{
+public:
+ explicit DummyGearCmdPublisher(const rclcpp::NodeOptions & node_options);
+ ~DummyGearCmdPublisher() = default;
+
+private:
+ // Parameter
+
+ // Subscriber
+
+ // Publisher
+ rclcpp::Publisher::SharedPtr pub_gear_cmd_;
+
+ // Service
+
+ // Client
+
+ // Timer
+ rclcpp::TimerBase::SharedPtr timer_;
+
+ void onTimer();
+
+ // State
+
+ // Diagnostics
+};
+} // namespace dummy_gear_cmd_publisher
+
+#endif // DUMMY_GEAR_CMD_PUBLISHER_HPP_