diff --git a/ansible/playbooks/telegraf.yaml b/ansible/playbooks/telegraf.yaml
new file mode 100644
index 00000000000..a490821a23f
--- /dev/null
+++ b/ansible/playbooks/telegraf.yaml
@@ -0,0 +1,4 @@
+- name: Set up Telegraf and InfluxDB v2
+  hosts: localhost
+  roles:
+    - autoware.dev_env.telegraf
diff --git a/ansible/roles/telegraf/README.md b/ansible/roles/telegraf/README.md
new file mode 100644
index 00000000000..5355384e72a
--- /dev/null
+++ b/ansible/roles/telegraf/README.md
@@ -0,0 +1,27 @@
+# telegraf
+
+This role install [InfluxDB v2](https://docs.influxdata.com/influxdb/v2/get-started/) and [Telegraf](https://docs.influxdata.com/telegraf/v1/) to collect system metrics.
+
+After installing telegraf and influxdb2, we need to manually make an API token and copy it to the `/etc/telegraf/telegraf.conf`.
+
+## Create Organization
+
+When accessing the InfluxDB UI <http://localhost:8086/> for the first time, you need to create an organization and a backet. Enter as follows.
+
+![](./files/create-org.png)
+
+## Generate API token
+
+Next, move to the `Load Data` tab, click the `GENERATE API TOKEN button`, and generate the API token.
+
+<https://docs.influxdata.com/influxdb/v2/admin/tokens/create-token/#manage-tokens-in-the-influxdb-ui>
+
+![](./files/load-data.png)
+
+![](./files/generate-api-token.png)
+
+## Copy API token and restart Telegraf
+
+Paste the obtained API token into the empty string part of `token = ""` in `/etc/telegraf/telegraf.conf`.
+
+<https://github.com/youtalk/autoware/blob/telegraf/ansible/roles/telegraf/files/telegraf.conf#L18>
diff --git a/ansible/roles/telegraf/defaults/main.yaml b/ansible/roles/telegraf/defaults/main.yaml
new file mode 100644
index 00000000000..e69de29bb2d
diff --git a/ansible/roles/telegraf/files/create-org.png b/ansible/roles/telegraf/files/create-org.png
new file mode 100644
index 00000000000..a286a54883c
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diff --git a/ansible/roles/telegraf/files/generate-api-token.png b/ansible/roles/telegraf/files/generate-api-token.png
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index 00000000000..4b2bb26596d
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diff --git a/ansible/roles/telegraf/files/get_telegraf_proccpu_json.sh b/ansible/roles/telegraf/files/get_telegraf_proccpu_json.sh
new file mode 100755
index 00000000000..bd70eef20c7
--- /dev/null
+++ b/ansible/roles/telegraf/files/get_telegraf_proccpu_json.sh
@@ -0,0 +1,20 @@
+#!/bin/bash
+
+SAMPLING_SEC=5
+
+echo "{"
+pidstat -u -h -l "${SAMPLING_SEC}" 1 |
+    tail -n +4 |
+    awk '{ cpu=$8; $1=$2=$3=$4=$5=$6=$7=$8=$9=""; print cpu,$0 }' |
+    sort -n |
+    while read -r cpu cmd; do
+        if [[ ${cpu%%.*} -le 0 ]]; then
+            continue
+        fi
+        cmd="${cmd// /_}"
+        cmd="${cmd//=/_}"
+        cmd="${cmd:0:50}"
+        echo "\"${cmd}\":${cpu},"
+    done
+echo '"z":0'
+echo "}"
diff --git a/ansible/roles/telegraf/files/get_telegraf_procmem_json.sh b/ansible/roles/telegraf/files/get_telegraf_procmem_json.sh
new file mode 100755
index 00000000000..dd513aa3781
--- /dev/null
+++ b/ansible/roles/telegraf/files/get_telegraf_procmem_json.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+
+echo "{"
+ps -ax --format "rss command" |
+    while read -r rss cmd; do
+        if [[ $rss -lt 30000 ]]; then
+            continue
+        fi
+        cmd="${cmd// /_}"
+        cmd="${cmd//=/_}"
+        cmd="${cmd:0:50}"
+        echo "\"${cmd}\":${rss},"
+    done
+echo '"z":0'
+echo "}"
diff --git a/ansible/roles/telegraf/files/load-data.png b/ansible/roles/telegraf/files/load-data.png
new file mode 100644
index 00000000000..7094a0378ce
Binary files /dev/null and b/ansible/roles/telegraf/files/load-data.png differ
diff --git a/ansible/roles/telegraf/files/telegraf.conf b/ansible/roles/telegraf/files/telegraf.conf
new file mode 100644
index 00000000000..9593f3f10c1
--- /dev/null
+++ b/ansible/roles/telegraf/files/telegraf.conf
@@ -0,0 +1,60 @@
+[global_tags]
+
+[agent]
+  interval = "10s"
+  round_interval = true
+  metric_batch_size = 1000
+  metric_buffer_limit = 10000
+  collection_jitter = "0s"
+  flush_interval = "10s"
+  flush_jitter = "0s"
+  precision = "0s"
+  hostname = ""
+  omit_hostname = false
+
+[[outputs.influxdb_v2]]
+  urls = ["http://127.0.0.1:8086"]
+  # Attach the access token. See also https://docs.influxdata.com/influxdb/cloud/admin/tokens/create-token/#manage-tokens-in-the-influxdb-ui
+  token = ""
+  organization = "autowarefoundation"
+  bucket = "autoware"
+  timeout = "5s"
+  user_agent = "telegraf"
+
+[[inputs.cpu]]
+  percpu = true
+  totalcpu = true
+  collect_cpu_time = false
+  report_active = false
+  core_tags = false
+
+[[inputs.disk]]
+  ignore_fs = ["tmpfs", "devtmpfs", "devfs", "iso9660", "overlay", "aufs", "squashfs"]
+
+[[inputs.diskio]]
+
+[[inputs.kernel]]
+
+[[inputs.mem]]
+
+[[inputs.processes]]
+
+[[inputs.swap]]
+
+[[inputs.system]]
+
+[[inputs.exec]]
+  commands = ["/opt/autoware/bin/get_telegraf_proccpu_json.sh"]
+  timeout = "10s"
+  data_format = "json"
+  name_suffix = "_proccpu"
+
+[[inputs.exec]]
+  commands = ["/opt/autoware/bin/get_telegraf_procmem_json.sh"]
+  timeout = "5s"
+  data_format = "json"
+  name_suffix = "_procmem"
+
+[[inputs.net]]
+
+[[inputs.nvidia_smi]]
diff --git a/ansible/roles/telegraf/handlers/main.yaml b/ansible/roles/telegraf/handlers/main.yaml
new file mode 100644
index 00000000000..854c7d99027
--- /dev/null
+++ b/ansible/roles/telegraf/handlers/main.yaml
@@ -0,0 +1,4 @@
+- name: Restart telegraf
+  ansible.builtin.systemd:
+    name: telegraf
+    state: restarted
diff --git a/ansible/roles/telegraf/meta/main.yaml b/ansible/roles/telegraf/meta/main.yaml
new file mode 100644
index 00000000000..e69de29bb2d
diff --git a/ansible/roles/telegraf/tasks/main.yaml b/ansible/roles/telegraf/tasks/main.yaml
new file mode 100644
index 00000000000..e6cc9a3170e
--- /dev/null
+++ b/ansible/roles/telegraf/tasks/main.yaml
@@ -0,0 +1,136 @@
+- name: Download influxdata-archive_compat.key
+  become: true
+  ansible.builtin.get_url:
+    url: https://repos.influxdata.com/influxdata-archive_compat.key
+    dest: /tmp/influxdata-archive_compat.key
+    mode: 0755
+
+- name: Verify the checksum of the key file
+  ansible.builtin.command: sha256sum -c
+  args:
+    chdir: /tmp
+    stdin: 393e8779c89ac8d958f81f942f9ad7fb82a25e133faddaf92e15b16e6ac9ce4c  influxdata-archive_compat.key
+  register: checksum_result
+  failed_when: checksum_result.rc != 0
+  changed_when: false
+
+- name: Check if GPG key is already converted
+  ansible.builtin.stat:
+    path: /tmp/influxdata-archive_compat.gpg
+  register: gpg_key_stat
+
+- name: Convert the key to gpg format
+  ansible.builtin.command:
+    cmd: gpg --dearmor -o /tmp/influxdata-archive_compat.gpg /tmp/influxdata-archive_compat.key
+  become: true
+  when: not gpg_key_stat.stat.exists
+  changed_when: false
+
+- name: Check if GPG key is already moved
+  ansible.builtin.stat:
+    path: /etc/apt/trusted.gpg.d/influxdata-archive_compat.gpg
+  register: moved_key_stat
+
+- name: Move the gpg key to trusted.gpg.d
+  ansible.builtin.command:
+    cmd: mv /tmp/influxdata-archive_compat.gpg /etc/apt/trusted.gpg.d/influxdata-archive_compat.gpg
+  become: true
+  when: not moved_key_stat.stat.exists
+  changed_when: false
+
+- name: Add InfluxData repository
+  become: true
+  ansible.builtin.apt_repository:
+    repo: deb [signed-by=/etc/apt/trusted.gpg.d/influxdata-archive_compat.gpg] https://repos.influxdata.com/debian stable main
+    state: present
+    filename: influxdata.list
+
+- name: Update apt cache
+  become: true
+  ansible.builtin.apt:
+    update_cache: true
+    cache_valid_time: 3600
+
+- name: Install InfluxDB v2
+  become: true
+  ansible.builtin.apt:
+    name: influxdb2
+    state: present
+
+- name: Install InfluxDB v2 CLI
+  become: true
+  ansible.builtin.apt:
+    name: influxdb2-cli
+    state: present
+
+- name: Install Telegraf
+  become: true
+  ansible.builtin.apt:
+    name: telegraf
+    state: present
+
+- name: Create telegraf_binary directory
+  ansible.builtin.file:
+    path: /opt/autoware/bin
+    state: directory
+    mode: 0755
+  become: true
+
+- name: Copy get_telegraf_proccpu_json.sh to /opt/autoware/bin
+  become: true
+  ansible.builtin.copy:
+    src: "{{ role_path }}/files/get_telegraf_proccpu_json.sh"
+    dest: /opt/autoware/bin/get_telegraf_proccpu_json.sh
+    owner: root
+    group: root
+    mode: 0755
+
+- name: Copy get_telegraf_procmem_json.sh to /opt/autoware/bin
+  become: true
+  ansible.builtin.copy:
+    src: "{{ role_path }}/files/get_telegraf_procmem_json.sh"
+    dest: /opt/autoware/bin/get_telegraf_procmem_json.sh
+    owner: root
+    group: root
+    mode: 0755
+
+- name: Copy telegraf.conf to /opt/autoware/bin
+  become: true
+  ansible.builtin.copy:
+    src: "{{ role_path }}/files/telegraf.conf"
+    dest: /etc/telegraf/telegraf.conf
+    owner: root
+    group: root
+    mode: 0644
+    backup: true
+  notify:
+    - Restart telegraf
+
+- name: Ensure telegraf is running and enabled
+  become: true
+  ansible.builtin.systemd:
+    name: telegraf
+    enabled: true
+    state: started
+
+- name: Ensure InfluxDB service is running
+  become: true
+  ansible.builtin.service:
+    name: influxdb
+    state: started
+    enabled: true
+
+- name: Check if InfluxDB is already set up
+  become: true
+  ansible.builtin.command:
+    cmd: influx setup --bucket-status
+  register: influx_setup_status
+  ignore_errors: true
+  changed_when: false
+
+- name: Set up influxDB v2
+  become: true
+  ansible.builtin.command:
+    cmd: influx setup -f --name default --username autoware --password autoware --token autowaretoken --org autowarefoundation --bucket autoware --retention 0
+  when: influx_setup_status.rc != 0
+  changed_when: false