diff --git a/autoware_iv_internal_api_adaptor/script/map_hash_generator b/autoware_iv_internal_api_adaptor/script/map_hash_generator
new file mode 100755
index 0000000..5fb5755
--- /dev/null
+++ b/autoware_iv_internal_api_adaptor/script/map_hash_generator
@@ -0,0 +1,111 @@
+#!/usr/bin/env python3
+
+# Copyright 2021 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.
+
+import hashlib
+import pathlib
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSDurabilityPolicy
+from rclpy.qos import QoSProfile
+from tier4_external_api_msgs.msg import MapHash
+from tier4_external_api_msgs.msg import ResponseStatus
+from tier4_external_api_msgs.srv import GetTextFile
+
+
+class MapHashGenerator(Node):
+    def __init__(self):
+        super().__init__("map_hash_generator")
+        self.lanelet_path = self.declare_parameter("lanelet2_map_path", "").value
+        self.lanelet_text = self.load_lanelet_text(self.lanelet_path)
+        self.lanelet_hash = self.generate_lanelet_file_hash(self.lanelet_text)
+
+        self.pcd_map_path = self.declare_parameter("pointcloud_map_path", "").value
+        self.pcd_map_hash = self.generate_pcd_file_hash(self.pcd_map_path)
+
+        qos_profile = QoSProfile(depth=1, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL)
+        msg = MapHash()
+        msg.lanelet = self.lanelet_hash
+        msg.pcd = self.pcd_map_hash
+        self.pub = self.create_publisher(MapHash, "/api/autoware/get/map/info/hash", qos_profile)
+        self.pub.publish(msg)
+
+        self.srv = self.create_service(
+            GetTextFile, "/api/autoware/get/map/lanelet/xml", self.on_get_lanelet_xml
+        )  # noqa: E501
+
+    def on_get_lanelet_xml(self, request, response):
+        response.status.code = ResponseStatus.SUCCESS
+        response.file.text = self.lanelet_text
+        return response
+
+    @staticmethod
+    def load_lanelet_text(path):
+        path = pathlib.Path(path)
+        return path.read_text() if path.is_file() else ""
+
+    @staticmethod
+    def generate_lanelet_file_hash(data):
+        return hashlib.sha256(data.encode()).hexdigest() if data else ""
+
+    def update_hash(self, m, path):
+        try:
+            with open(path, "rb") as pcd_file:
+                m.update(pcd_file.read())
+        except FileNotFoundError as e:
+            self.get_logger().error(e)
+            return False
+        return True
+
+    def generate_pcd_file_hash(self, path):
+        path = pathlib.Path(path)
+        if path.is_file():
+            if not path.suffix == ".pcd":
+                self.get_logger().error(f"[{path}] is not pcd file")
+                return ""
+            m = hashlib.sha256()
+            if not self.update_hash(m, path):
+                return ""
+            return m.hexdigest()
+
+        if path.is_dir():
+            m = hashlib.sha256()
+            for pcd_file_path in sorted(path.iterdir()):
+                if not pcd_file_path.suffix == ".pcd":
+                    continue
+                if not self.update_hash(m, pcd_file_path):
+                    return ""
+            if m.hexdigest() == hashlib.sha256().hexdigest():
+                self.get_logger().error(f"there are no pcd files in [{path}]")
+                return ""
+            return m.hexdigest()
+
+        self.get_logger().error(f"[{path}] is neither file nor directory")
+        return ""
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = MapHashGenerator()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    try:
+        main()
+    except KeyboardInterrupt:
+        pass