diff --git a/src/signage/config/signage_param.yaml b/src/signage/config/signage_param.yaml
index e5d57df..41661b6 100644
--- a/src/signage/config/signage_param.yaml
+++ b/src/signage/config/signage_param.yaml
@@ -10,3 +10,13 @@ signage:
     accept_start: 5.0 # second
     monitor_width: 1920
     monitor_height: 540
+    announce:
+      emergency: true
+      restart_engage: true
+      door_close: true
+      door_open: true
+      engage: true
+      thank_you: true
+      in_emergency: true
+      going_to_depart: true
+      going_to_arrive: true
\ No newline at end of file
diff --git a/src/signage/package.xml b/src/signage/package.xml
index b60e554..d31d720 100644
--- a/src/signage/package.xml
+++ b/src/signage/package.xml
@@ -11,6 +11,8 @@
   <exec_depend>signage_version</exec_depend>
 
   <depend>autoware_auto_system_msgs</depend>
+  <depend>diagnostic_updater</depend>
+  <depend>python-pulsectl-pip</depend>
   <depend>rclpy</depend>
   <depend>tier4_api_msgs</depend>
   <depend>tier4_debug_msgs</depend>
diff --git a/src/signage/resource/sound/arrived.wav b/src/signage/resource/sound/arrived.wav
deleted file mode 100644
index 0fb821a..0000000
Binary files a/src/signage/resource/sound/arrived.wav and /dev/null differ
diff --git a/src/signage/resource/sound/restart_engage.wav b/src/signage/resource/sound/restart_engage.wav
new file mode 100644
index 0000000..96a52ff
Binary files /dev/null and b/src/signage/resource/sound/restart_engage.wav differ
diff --git a/src/signage/resource/sound/wait_for_oncoming_car.wav b/src/signage/resource/sound/wait_for_oncoming_car.wav
deleted file mode 100644
index 200089c..0000000
Binary files a/src/signage/resource/sound/wait_for_oncoming_car.wav and /dev/null differ
diff --git a/src/signage/resource/sound/wait_for_walker.wav b/src/signage/resource/sound/wait_for_walker.wav
deleted file mode 100644
index 1d9ea17..0000000
Binary files a/src/signage/resource/sound/wait_for_walker.wav and /dev/null differ
diff --git a/src/signage/resource/td5_file/automatic_128x16.td5 b/src/signage/resource/td5_file/automatic_128x16.td5
new file mode 100644
index 0000000..0297cef
Binary files /dev/null and b/src/signage/resource/td5_file/automatic_128x16.td5 differ
diff --git a/src/signage/resource/td5_file/automatic_80x24.td5 b/src/signage/resource/td5_file/automatic_80x24.td5
new file mode 100644
index 0000000..4d5077f
Binary files /dev/null and b/src/signage/resource/td5_file/automatic_80x24.td5 differ
diff --git a/src/signage/resource/td5_file/automonus.td5 b/src/signage/resource/td5_file/automonus.td5
new file mode 100644
index 0000000..1926e4a
Binary files /dev/null and b/src/signage/resource/td5_file/automonus.td5 differ
diff --git a/src/signage/resource/td5_file/null_128x16.td5 b/src/signage/resource/td5_file/null_128x16.td5
new file mode 100644
index 0000000..1cf7414
Binary files /dev/null and b/src/signage/resource/td5_file/null_128x16.td5 differ
diff --git a/src/signage/resource/td5_file/null_80x24.td5 b/src/signage/resource/td5_file/null_80x24.td5
new file mode 100644
index 0000000..6e53de0
Binary files /dev/null and b/src/signage/resource/td5_file/null_80x24.td5 differ
diff --git a/src/signage/setup.py b/src/signage/setup.py
index 2a89093..084fcdb 100644
--- a/src/signage/setup.py
+++ b/src/signage/setup.py
@@ -23,6 +23,7 @@ def package_files(directory):
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         ("share/" + package_name + "/resource/page", package_files("resource/page")),
         ("share/" + package_name + "/resource/sound", package_files("resource/sound")),
+        ("share/" + package_name + "/resource/td5_file", package_files("resource/td5_file")),
         (
             "share/" + package_name + "/resource/page/BusStopView",
             package_files("resource/page/BusStopView"),
diff --git a/src/signage/src/signage/announce_controller.py b/src/signage/src/signage/announce_controller.py
index aeeff49..535af08 100644
--- a/src/signage/src/signage/announce_controller.py
+++ b/src/signage/src/signage/announce_controller.py
@@ -2,9 +2,16 @@
 # -*- coding: utf-8 -*-
 # This Python file uses the following encoding: utf-8
 
+import os
+
 from PyQt5.QtMultimedia import QSound
 from rclpy.duration import Duration
 from ament_index_python.packages import get_package_share_directory
+from pulsectl import Pulse
+
+from std_msgs.msg import Float32
+from tier4_hmi_msgs.srv import SetVolume
+from tier4_external_api_msgs.msg import ResponseStatus
 
 # The higher the value, the higher the priority
 PRIORITY_DICT = {
@@ -20,6 +27,8 @@
     "going_to_arrive": 1,
 }
 
+CURRENT_VOLUME_PATH = "/opt/autoware/volume.txt"
+
 
 class AnnounceControllerProperty:
     def __init__(self, node, autoware_interface, parameter_interface):
@@ -27,6 +36,7 @@ def __init__(self, node, autoware_interface, parameter_interface):
 
         self._node = node
         self._parameter = parameter_interface.parameter
+        self._announce_settings = parameter_interface.announce_settings
         self._current_announce = ""
         self._pending_announce_list = []
         self._sound = QSound("")
@@ -34,6 +44,18 @@ def __init__(self, node, autoware_interface, parameter_interface):
         self._package_path = get_package_share_directory("signage") + "/resource/sound/"
         self._check_playing_timer = self._node.create_timer(1, self.check_playing_callback)
 
+        self._pulse = Pulse()
+        if os.path.isfile(CURRENT_VOLUME_PATH):
+            with open(CURRENT_VOLUME_PATH, "r") as f:
+                self._sink = self._pulse.get_sink_by_name(
+                    self._pulse.server_info().default_sink_name
+                )
+                self._pulse.volume_set_all_chans(self._sink, float(f.readline()))
+
+        self._get_volume_pub = self._node.create_publisher(Float32, "~/get/volume", 1)
+        self._node.create_timer(1.0, self.publish_volume_callback)
+        self._node.create_service(SetVolume, "~/set/volume", self.set_volume)
+
     def process_pending_announce(self):
         try:
             for play_sound in self._pending_announce_list:
@@ -62,10 +84,21 @@ def play_sound(self, message):
         self._sound = QSound(self._package_path + message + ".wav")
         self._sound.play()
 
+    # skip announce by setting
+    def check_announce_or_not(self, message):
+        try:
+            return getattr(self._announce_settings, message)
+        except Exception as e:
+            self._node.get_logger().error("check announce or not: " + str(e))
+            return False
+
     def send_announce(self, message):
         priority = PRIORITY_DICT.get(message, 0)
         previous_priority = PRIORITY_DICT.get(self._current_announce, 0)
 
+        if not self.check_announce_or_not(message):
+            return
+
         if priority == 3:
             self._sound.stop()
             self.play_sound(message)
@@ -100,3 +133,18 @@ def announce_going_to_depart_and_arrive(self, message):
             # To stop repeat announcement
             self.send_announce(message)
             self._prev_depart_and_arrive_type = message
+
+    def publish_volume_callback(self):
+        self._sink = self._pulse.get_sink_by_name(self._pulse.server_info().default_sink_name)
+        self._get_volume_pub.publish(Float32(data=self._sink.volume.value_flat))
+
+    def set_volume(self, request, response):
+        try:
+            self._sink = self._pulse.get_sink_by_name(self._pulse.server_info().default_sink_name)
+            self._pulse.volume_set_all_chans(self._sink, request.volume)
+            with open(CURRENT_VOLUME_PATH, "w") as f:
+                f.write(f"{self._sink.volume.value_flat}\n")
+            response.status.code = ResponseStatus.SUCCESS
+        except Exception:
+            response.status.code = ResponseStatus.ERROR
+        return response
diff --git a/src/signage/src/signage/autoware_diagnostic.py b/src/signage/src/signage/autoware_diagnostic.py
new file mode 100644
index 0000000..ee8650a
--- /dev/null
+++ b/src/signage/src/signage/autoware_diagnostic.py
@@ -0,0 +1,28 @@
+# -*- coding: utf-8 -*-
+# Copyright (c) 2020 Tier IV, Inc. All rights reserved.
+#
+# 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.
+
+# ========================================================================
+# This code is used to public the diagnostic to autoware and let autoware
+# to decide the hazard level
+# ========================================================================
+
+import diagnostic_updater
+
+class AutowareDiagnostic():
+    def init_updater(self, node, name, update_function, hardware_id):
+        updater = diagnostic_updater.Updater(node, 1)
+        updater.setHardwareID(hardware_id)
+        updater.add(name, update_function)
+        return updater
diff --git a/src/signage/src/signage/autoware_interface.py b/src/signage/src/signage/autoware_interface.py
index 5152b2c..3286249 100644
--- a/src/signage/src/signage/autoware_interface.py
+++ b/src/signage/src/signage/autoware_interface.py
@@ -9,12 +9,12 @@
     OperationModeState,
     MotionState,
     LocalizationInitializationState,
+    VelocityFactorArray,
 )
 import signage.signage_utils as utils
 from tier4_debug_msgs.msg import Float64Stamped
 from tier4_external_api_msgs.msg import DoorStatus
 
-
 @dataclass
 class AutowareInformation:
     autoware_control: bool = False
@@ -31,6 +31,7 @@ class AutowareInterface:
     def __init__(self, node):
         self._node = node
         self.information = AutowareInformation()
+        self.is_disconnected = False
 
         sub_qos = rclpy.qos.QoSProfile(
             history=rclpy.qos.QoSHistoryPolicy.KEEP_LAST,
@@ -81,6 +82,12 @@ def __init__(self, node):
             self.sub_localization_initialization_state_callback,
             api_qos,
         )
+        self._sub_velocity_factors = node.create_subscription(
+            VelocityFactorArray,
+            "/api/planning/velocity_factors",
+            self.sub_velocity_factors_callback,
+            sub_qos,
+        )
         self._autoware_connection_time = self._node.get_clock().now()
         self._node.create_timer(2, self.reset_timer)
 
@@ -88,6 +95,9 @@ def reset_timer(self):
         if utils.check_timeout(self._node.get_clock().now(), self._autoware_connection_time, 10):
             self.information = AutowareInformation()
             self._node.get_logger().error("Autoware disconnected", throttle_duration_sec=10)
+            self.is_disconnected = True
+        else:
+            self.is_disconnected = False
 
     def sub_operation_mode_callback(self, msg):
         try:
@@ -116,7 +126,6 @@ def sub_vehicle_door_callback(self, msg):
 
     def sub_path_distance_callback(self, msg):
         try:
-            self._autoware_connection_time = self._node.get_clock().now()
             self.information.goal_distance = msg.data
         except Exception as e:
             self._node.get_logger().error("Unable to get the goal distance, ERROR: " + str(e))
@@ -134,3 +143,9 @@ def sub_localization_initialization_state_callback(self, msg):
             self._node.get_logger().error(
                 "Unable to get the localization init state, ERROR: " + str(e)
             )
+
+    def sub_velocity_factors_callback(self, msg):
+        try:
+            self._autoware_connection_time = self._node.get_clock().now()
+        except Exception as e:
+            self._node.get_logger().error("Unable to get the velocity factors, ERROR: " + str(e))
diff --git a/src/signage/src/signage/external_signage.py b/src/signage/src/signage/external_signage.py
new file mode 100644
index 0000000..e72bdb3
--- /dev/null
+++ b/src/signage/src/signage/external_signage.py
@@ -0,0 +1,136 @@
+from dataclasses import dataclass
+import datetime
+import time
+import serial
+from ament_index_python.packages import get_package_share_directory
+import signage.packet_tools as packet_tools
+
+
+@dataclass
+class Display:
+    address1: int
+    address2: int
+    height: int
+    width: int
+    ack_query_ack: list
+    ack_data_chunk: list
+
+
+class Protocol:
+    SOT = 0xAA
+    EOT = 0x55
+    SEND_COLOR = "\x1B[34;1m"
+    RECV_COLOR = "\x1B[32;1m"
+    ERR_COLOR = "\x1B[31;1m"
+
+    def __init__(self):
+        self.front = Display(
+            address1=0x70,
+            address2=0x8F,
+            height=16,
+            width=128,
+            ack_query_ack=[0xAA, 0x70, 0x8F, 0x07, 0x12, 0x02, 0x1A, 0x01, 0x55],
+            ack_data_chunk=[0xAA, 0x70, 0x8F, 0x07, 0x20, 0x30, 0x56, 0x01, 0x55],
+        )
+        self.back = Display(
+            address1=0x80,
+            address2=0x7F,
+            height=16,
+            width=128,
+            ack_query_ack=[0xAA, 0x80, 0x7F, 0x07, 0x12, 0x02, 0x1A, 0x01, 0x55],
+            ack_data_chunk=[0xAA, 0x80, 0x7F, 0x07, 0x20, 0x30, 0x56, 0x01, 0x55],
+        )
+        self.side = Display(
+            address1=0x90,
+            address2=0x6F,
+            height=24,
+            width=80,
+            ack_query_ack=[0xAA, 0x90, 0x6F, 0x07, 0x12, 0x02, 0x1A, 0x01, 0x55],
+            ack_data_chunk=[0xAA, 0x90, 0x6F, 0x07, 0x20, 0x30, 0x56, 0x01, 0x55],
+        )
+
+
+class DataSender:
+    def __init__(self, bus, parser, protocol, node_logger):
+        self._bus = bus
+        self._parser = parser
+        self._protocol = protocol
+        self._logger = node_logger
+        self._delay_time = 0.02
+
+    def _send_heartbeat(self, data, ACK_QueryACK):
+        timestamp = datetime.datetime.now()
+        name_time_packet = packet_tools.gen_name_time_packet(data.linename, timestamp, False)
+        self._bus.write(name_time_packet)
+        packet_tools.dump_packet(name_time_packet, None, self._protocol.SEND_COLOR)
+        time.sleep(self._delay_time)
+        self._bus.write(data.heartbeat_packet)
+        packet_tools.dump_packet(data.heartbeat_packet, None, self._protocol.SEND_COLOR)
+        buf = self._parser.wait_ack()
+        if not packet_tools.lists_match(buf, ACK_QueryACK):
+            if len(buf) == 0:
+                self._logger.error("No ACK received for heartbeat.")
+            else:
+                packet_tools.dump_packet(buf, None, self._protocol.ERR_COLOR)
+
+    def _send_data_packets(self, data, ACK_DataChunk):
+        for packet in data.data_packets:
+            packet_tools.dump_packet(packet, None, self._protocol.SEND_COLOR)
+            self._bus.write(packet)
+            buf = self._parser.wait_ack()
+            if not packet_tools.lists_match(buf, ACK_DataChunk):
+                if len(buf) == 0:
+                    self._logger.error("No ACK received for data packet.")
+                else:
+                    packet_tools.dump_packet(buf, None, self._protocol.ERR_COLOR)
+
+    def send(self, data, ACK_QueryACK, ACK_DataChunk):
+        self._send_heartbeat(data, ACK_QueryACK)
+        self._send_data_packets(data, ACK_DataChunk)
+        return  # Exit after sending all data packets
+
+
+class ExternalSignage:
+    def __init__(self, node):
+        self.node = node
+        self.protocol = Protocol()
+        package_path = get_package_share_directory("signage") + "/resource/td5_file/"
+        self.bus = serial.Serial(
+            "/dev/ttyUSB0", baudrate=38400, parity=serial.PARITY_EVEN, timeout=0.2, exclusive=False
+        )
+        self.parser = packet_tools.Parser(self.bus)
+
+        self.displays = {
+            "front": self._load_display_data(self.protocol.front, package_path),
+            "back": self._load_display_data(self.protocol.back, package_path),
+            "side": self._load_display_data(self.protocol.side, package_path),
+        }
+
+    def _load_display_data(self, display, package_path):
+        auto_path = package_path + f"/automatic_{display.width}x{display.height}.td5"
+        null_path = package_path + f"/null_{display.width}x{display.height}.td5"
+        return {
+            "auto": packet_tools.TD5Data(
+                auto_path, display.address1, display.address2, display.height, display.width
+            ),
+            "null": packet_tools.TD5Data(
+                null_path, display.address1, display.address2, display.height, display.width
+            ),
+        }
+
+    def send_data(self, display_key, data_key):
+        display = self.displays[display_key]
+        data = display[data_key]
+        ack_query_ack = self.protocol.__dict__[display_key].ack_query_ack
+        ack_data_chunk = self.protocol.__dict__[display_key].ack_data_chunk
+        sender = DataSender(self.bus, self.parser, self.protocol, self.node.get_logger())
+        sender.send(data, ack_query_ack, ack_data_chunk)
+
+    def trigger(self):
+        for display_key in self.displays:
+            self.send_data(display_key, "auto")
+            time.sleep(1)
+
+    def close(self):
+        for display_key in self.displays:
+            self.send_data(display_key, "null")
diff --git a/src/signage/src/signage/heartbeat.py b/src/signage/src/signage/heartbeat.py
new file mode 100644
index 0000000..7c83269
--- /dev/null
+++ b/src/signage/src/signage/heartbeat.py
@@ -0,0 +1,20 @@
+# !/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+from signage.autoware_diagnostic import AutowareDiagnostic
+from diagnostic_msgs.msg import DiagnosticStatus
+
+class Heartbeat:
+    def __init__(self, node):
+        self._node = node
+
+        self._diagnostic_updater = AutowareDiagnostic().init_updater(
+            self._node,
+            "/system/signage_connection : signage heartbeat",
+            self.handle_heartbeat_diagnostics,
+            "none",
+        )
+
+    def handle_heartbeat_diagnostics(self, stat):
+        stat.summary(DiagnosticStatus.OK, "signage is working")
+        return stat
\ No newline at end of file
diff --git a/src/signage/src/signage/packet_tools.py b/src/signage/src/signage/packet_tools.py
new file mode 100644
index 0000000..37d485a
--- /dev/null
+++ b/src/signage/src/signage/packet_tools.py
@@ -0,0 +1,267 @@
+import datetime
+import operator
+from functools import reduce
+
+# Packet start and end markers
+SOT = 0xAA
+EOT = 0x55
+
+
+def dump_packet(packet, timestamp=None, color=None):
+    """
+    Prints a packet's contents in a formatted manner, optionally with color and timestamp.
+
+    Parameters:
+    - packet: List[int], the packet data including start and end markers.
+    - timestamp: datetime.datetime, optional timestamp to prepend to the output.
+    - color: str, an optional terminal color code to apply to the output.
+    """
+    verified = verify_sum(packet)
+    if color:
+        print(color, end="")
+    if timestamp:
+        print(timestamp, end=" ")
+    for p in packet:
+        print(f"{p:02x}", end=" ")
+    if color:
+        print("\033[0m", end="")
+    print()
+
+
+def calc_sum(payload):
+    """
+    Calculates the checksum of a given payload.
+
+    Parameters:
+    - payload: List[int], the payload data from which to calculate the checksum.
+
+    Returns:
+    - List[int], a two-element list containing the checksum bytes.
+    """
+    s = reduce(operator.add, payload)
+    return [s & 0xFF, (s & 0xFF00) >> 8]
+
+
+def verify_sum(packet):
+    """
+    Verifies the checksum of a packet.
+
+    Parameters:
+    - packet: List[int], the complete packet including checksum and markers.
+
+    Returns:
+    - bool, True if the checksum is correct, False otherwise.
+    """
+    sum = calc_sum(packet[1:-3])
+    return (packet[-3] == sum[0]) and (packet[-2] == sum[1])
+
+
+def gen_data_packet(data, seq, addr1, addr2):
+    """
+    Generates a single data packet from given data and sequence number.
+
+    Parameters:
+    - data: List[int], the data to include in the packet.
+    - seq: int, the sequence number of the packet.
+    - addr1: int, the first part of the address.
+    - addr2: int, the second part of the address.
+
+    Returns:
+    - List[int], the assembled packet.
+    """
+    length = len(data) + 8
+    cmd = 0x20
+    payload = [addr1, addr2, length, cmd, seq, 0x00] + list(data)
+    checksum = calc_sum(payload)
+    return [SOT] + payload + checksum + [EOT]
+
+
+def gen_data_packets(data, addr1, addr2):
+    """
+    Generates a sequence of data packets from a larger dataset.
+
+    Parameters:
+    - data: List[int], the complete set of data to be sent in packets.
+    - addr1: int, the first part of the address for the packets.
+    - addr2: int, the second part of the address for the packets.
+
+    Returns:
+    - List[List[int]], a list of assembled packets.
+    """
+    packets = []
+    seq = 0
+    for i in range(0, len(data), 128):
+        packet_data = data[i : i + 128]
+        packets.append(gen_data_packet(packet_data, seq, addr1, addr2))
+        seq += 1
+    return packets
+
+
+def gen_name_time_packet(linename, timestamp, nightmode):
+    """
+    Generates a packet containing a line name and the current time.
+
+    Parameters:
+    - linename: str, the name of the line, must be 16 characters.
+    - timestamp: datetime.datetime, the current time.
+    - nightmode: bool, whether night mode is enabled.
+
+    Returns:
+    - List[int], the assembled packet.
+    """
+    addr1 = 0x60
+    addr2 = 0x9F
+    length = 0x24
+    cmd = 0x01
+    if len(linename) != 16:
+        raise ValueError("Line Name length invalid")
+    payload = [addr1, addr2, length, cmd] + list(linename)
+    payload += map(lambda x: int(x, 16), timestamp.strftime("%M %H %d %w %m %y").split())
+    payload.append(0x10 if nightmode else 0x00)
+    payload.extend([0x00] * 7)
+    checksum = calc_sum(payload)
+    return [SOT] + payload + checksum + [EOT]
+
+
+def lists_match(l1, l2):
+    """
+    Compares two lists for equality.
+
+    Parameters:
+    - l1: List, the first list to compare.
+    - l2: List, the second list to compare.
+
+    Returns:
+    - bool, True if the lists are equal, False otherwise.
+    """
+    return len(l1) == len(l2) and all(x == y for x, y in zip(l1, l2))
+
+
+class TD5Data:
+    """
+    Represents data extracted from a .td5 file, including line name, data packets, and heartbeat packet.
+
+    Attributes:
+    - width: int, the width of the display.
+    - height: int, the height of the display.
+    - linename: bytes, the name of the line extracted from the file.
+    - data_packets: List[List[int]], the data packets ready for transmission.
+    - heartbeat_packet: List[int], the heartbeat packet for maintaining connection.
+    """
+
+    def __init__(self, filename, addr1, addr2, height, width):
+        self.width = width
+        self.height = height
+        with open(filename, "rb") as f:
+            f.seek(0x400)
+            self.linename = f.read(16)
+            f.seek(0x61C)
+            f.seek(0x607)
+            raw_linedatalen = f.read(2)
+            self.linedatalen = int.from_bytes(raw_linedatalen, "little")
+            f.seek(0x600)
+            linedata = f.read(self.linedatalen)
+            self.data_packets = gen_data_packets(linedata, addr1, addr2)
+            f.seek(0x603)
+            data = f.read(2)
+            self.heartbeat_packet = self.gen_heartbeat_packet(
+                data, raw_linedatalen, height, width, addr1, addr2
+            )
+
+    def gen_heartbeat_packet(self, data, linedatalen, height, width, addr1, addr2):
+        """
+        Generates a heartbeat packet based on the given parameters.
+
+        Parameters:
+        - data: bytes, part of the data extracted from the .td5 file.
+        - linedatalen: bytes, the length of the line data.
+        - height: int, the height of the display.
+        - width: int, the width of the display.
+        - addr1: int, the first part of the display address.
+        - addr2: int, the second part of the display address.
+
+        Returns:
+        - List[int], the assembled heartbeat packet.
+        """
+        cmd1 = 0x16
+        cmd2 = 0x12
+        payload = [addr1, addr2, cmd1, cmd2]
+        payload.extend([0x00, 0x00, height, 0x00])
+        payload.extend(linedatalen)
+        payload.extend([0x00, 0x00])
+        payload.extend(data)
+        payload.extend([0x00, 0x00, 0x53, 0x30, 0x30, 0x35])
+        checksum = calc_sum(payload)
+        return [SOT] + payload + checksum + [EOT]
+
+
+class Parser:
+    """
+    Parses incoming data from a serial bus into complete packets.
+
+    Attributes:
+    - bus: serial.Serial, the serial bus from which to read data.
+    """
+
+    def __init__(self, bus):
+        self.state = 0
+        self.buf = []
+        self.i = 0
+        self.datalen = 0
+        self.bus = bus
+
+    def read(self):
+        """
+        Reads a single byte from the serial bus.
+
+        Returns:
+        - int, the byte read, or None if no data is available.
+        """
+        return self.bus.read(1)
+
+    def parse(self, c):
+        """
+        Parse a single byte and update the state machine.
+
+        Parameters:
+        - c: int, the byte to parse.
+
+        Returns:
+        - int: 1 if a complete packet is parsed successfully, 0 otherwise.
+        """
+        if self.state == 0 and c == 0xAA:  # Start of packet
+            self.buf = [c]
+            self.state = 1
+        elif self.state == 1:  # Reading packet header
+            self.buf.append(c)
+            self.i += 1
+            if self.i == 2:  # Length byte next
+                self.state = 2
+        elif self.state == 2:  # Reading packet length
+            self.buf.append(c)
+            self.datalen = int(c)
+            self.state = 3
+            self.i = 0
+        elif self.state == 3:  # Reading packet payload
+            self.buf.append(c)
+            self.i += 1
+            if self.i == (self.datalen - 2):  # Packet complete
+                self.state = 0
+                return 1  # Indicate a complete packet has been parsed
+        return 0  # Indicate parsing is ongoing
+
+    def wait_ack(self):
+        """
+        Wait for an acknowledgement packet.
+
+        Returns:
+        - list: The received acknowledgement packet, or an empty list if none is received.
+        """
+        while True:
+            received = self.read()
+            if not received or len(received) == 0:
+                break  # No more data available
+            c = received[0]
+            if self.parse(c):
+                return self.buf  # Return the complete packet
+        return []  # No acknowledgement received
diff --git a/src/signage/src/signage/parameter_interface.py b/src/signage/src/signage/parameter_interface.py
index a8ead50..c9f1dc8 100644
--- a/src/signage/src/signage/parameter_interface.py
+++ b/src/signage/src/signage/parameter_interface.py
@@ -18,10 +18,23 @@ class SignageParameter:
     monitor_width: int = 1920
     monitor_height: int = 540
 
+@dataclass
+class AnnounceParameter:
+    emergency: bool = True
+    restart_engage: bool = True
+    door_close: bool = True
+    door_open: bool = True
+    engage: bool = True
+    arrived: bool = True
+    thank_you: bool = True
+    in_emergency: bool = True
+    going_to_depart: bool = True
+    going_to_arrive: bool = True
 
 class ParameterInterface:
     def __init__(self, node):
         self.parameter = SignageParameter()
+        self.announce_settings = AnnounceParameter()
 
         node.declare_parameter("signage_stand_alone", False)
         node.declare_parameter("ignore_manual_driving", False)
@@ -64,3 +77,23 @@ def __init__(self, node):
         self.parameter.monitor_height = (
             node.get_parameter("monitor_height").get_parameter_value().integer_value
         )
+
+        node.declare_parameter("announce.emergency", True)
+        node.declare_parameter("announce.restart_engage", True)
+        node.declare_parameter("announce.door_close", True)
+        node.declare_parameter("announce.door_open", True)
+        node.declare_parameter("announce.engage", True)
+        node.declare_parameter("announce.thank_you", True)
+        node.declare_parameter("announce.in_emergency", True)
+        node.declare_parameter("announce.going_to_depart", True)
+        node.declare_parameter("announce.going_to_arrive", True)
+
+        announce_prefix = node.get_parameters_by_prefix("announce")
+
+        for key in announce_prefix.keys():
+            setattr(
+                self.announce_settings,
+                key,
+                announce_prefix[key].get_parameter_value().bool_value,
+            )
+
diff --git a/src/signage/src/signage/route_handler.py b/src/signage/src/signage/route_handler.py
index 1aa7260..465b1ae 100644
--- a/src/signage/src/signage/route_handler.py
+++ b/src/signage/src/signage/route_handler.py
@@ -26,6 +26,7 @@ def __init__(
         autoware_interface,
         parameter_interface,
         ros_service_interface,
+        external_signage,
     ):
         self._node = node
         self._viewController = viewController
@@ -33,6 +34,7 @@ def __init__(
         self._autoware = autoware_interface
         self._parameter = parameter_interface.parameter
         self._service_interface = ros_service_interface
+        self._external_signage = external_signage
         self.AUTOWARE_IP = os.getenv("AUTOWARE_IP", "localhost")
         self._fms_payload = {
             "method": "get",
@@ -48,6 +50,7 @@ def __init__(
         self._display_phrase = ""
         self._in_emergency_state = False
         self._emergency_trigger_time = self._node.get_clock().now()
+        self._engage_trigger_time = self._node.get_clock().now()
         self._is_stopping = True
         self._is_driving = False
         self._previous_driving_status = False
@@ -60,6 +63,7 @@ def __init__(
         self._announce_engage = False
         self._in_slow_stop_state = False
         self._in_slowing_state = False
+        self._trigger_external_signage = False
 
         self.process_station_list_from_fms()
 
@@ -73,6 +77,8 @@ def __init__(
     def emergency_checker_callback(self):
         if self._parameter.ignore_emergency:
             in_emergency = False
+        if self._autoware.information.operation_mode == OperationModeState.STOP:
+            in_emergency = False
         else:
             in_emergency = self._autoware.information.mrm_behavior == MrmState.EMERGENCY_STOP
 
@@ -133,8 +139,15 @@ def announce_engage_when_starting(self):
             ):
                 if self._announce_engage and not self._skip_announce:
                     self._skip_announce = True
-                else:
-                    self._announce_interface.send_announce("engage")
+                elif utils.check_timeout(
+                    self._node.get_clock().now(),
+                    self._engage_trigger_time,
+                    self._parameter.accept_start,
+                ):
+                    self._announce_interface.send_announce("restart_engage")
+                    self._external_signage.trigger()
+                    self._trigger_external_signage = True
+                    self._engage_trigger_time = self._node.get_clock().now()
 
                 if self._autoware.information.motion_state == MotionState.STARTING:
                     self._service_interface.accept_start()
@@ -268,6 +281,8 @@ def route_checker_callback(self):
                 self._is_stopping = False
                 if not self._announce_engage and self._parameter.signage_stand_alone:
                     self._announce_interface.send_announce("engage")
+                    self._external_signage.trigger()
+                    self._trigger_external_signage = True
                     self._announce_engage = True
             elif self._autoware.information.route_state == RouteState.ARRIVED:
                 # Check whether the vehicle arrive to goal
@@ -276,6 +291,13 @@ def route_checker_callback(self):
                 self._skip_announce = False
                 self._announce_engage = False
 
+            if (
+                self._autoware.information.operation_mode != OperationModeState.AUTONOMOUS
+                and self._trigger_external_signage
+            ):
+                self._external_signage.close()
+                self._trigger_external_signage = False
+
             if self._prev_route_state != RouteState.SET:
                 if self._autoware.information.route_state == RouteState.SET:
                     self.process_station_list_from_fms(force_update=True)
@@ -362,7 +384,9 @@ def view_mode_callback(self):
             self._viewController.next_station_list = self._display_details.next_station_list
             self._viewController.display_phrase = self._display_phrase
 
-            if (
+            if self._autoware.is_disconnected:
+                view_mode = "emergency_stopped"
+            elif (
                 not self._autoware.information.autoware_control
                 and not self._parameter.ignore_manual_driving
             ):
diff --git a/src/signage/src/signage/signage.py b/src/signage/src/signage/signage.py
index 146e666..4020678 100644
--- a/src/signage/src/signage/signage.py
+++ b/src/signage/src/signage/signage.py
@@ -7,12 +7,14 @@
 import rclpy
 from rclpy.node import Node
 
+from signage.heartbeat import Heartbeat
 from signage.view_controller import ViewControllerProperty
 from signage.announce_controller import AnnounceControllerProperty
 from signage.autoware_interface import AutowareInterface
 from signage.parameter_interface import ParameterInterface
 from signage.route_handler import RouteHandler
 from signage.ros_service_interface import RosServiceInterface
+from signage.external_signage import ExternalSignage
 from ament_index_python.packages import get_package_share_directory
 
 
@@ -25,11 +27,14 @@ def main(args=None):
     app = QApplication(sys.argv)
     engine = QQmlApplicationEngine()
 
+    heartbeat = Heartbeat(node)
+    autoware_interface = AutowareInterface(node)
     autoware_interface = AutowareInterface(node)
     parameter_interface = ParameterInterface(node)
     ros_service_interface = RosServiceInterface(node, parameter_interface)
     viewController = ViewControllerProperty(node, parameter_interface)
     announceController = AnnounceControllerProperty(node, autoware_interface, parameter_interface)
+    external_signage = ExternalSignage(node)
     route_handler = RouteHandler(
         node,
         viewController,
@@ -37,6 +42,7 @@ def main(args=None):
         autoware_interface,
         parameter_interface,
         ros_service_interface,
+        external_signage,
     )
 
     ctx = engine.rootContext()