diff --git a/atf_msgs/CMakeLists.txt b/atf_msgs/CMakeLists.txt
index 24c60ede..5ab98726 100644
--- a/atf_msgs/CMakeLists.txt
+++ b/atf_msgs/CMakeLists.txt
@@ -4,6 +4,7 @@ project(atf_msgs)
 find_package(catkin REQUIRED COMPONENTS
     actionlib_msgs
     message_generation
+    rosbag_migration_rule
     std_msgs
 )
 
@@ -49,6 +50,7 @@ catkin_package(
     CATKIN_DEPENDS
         actionlib_msgs
         message_runtime
+        rosbag_migration_rule
         std_msgs
 )
 
diff --git a/atf_msgs/migration_rules/rule202005.bmr.py b/atf_msgs/migration_rules/rule202005.bmr.py
new file mode 100644
index 00000000..3c2433f7
--- /dev/null
+++ b/atf_msgs/migration_rules/rule202005.bmr.py
@@ -0,0 +1,284 @@
+class update_atf_msgs_MetricResult_438a6e6fcdba4c073c5c940bc183fe12(MessageUpdateRule):
+	old_type = "atf_msgs/MetricResult"
+	old_full_text = """
+uint8 SNAP        = 0
+uint8 SPAN        = 1
+
+string name
+uint8 mode
+bool started
+bool finished
+DataStamped[] series
+DataStamped data
+DataStamped min
+DataStamped max
+float64 mean
+float64 std
+Groundtruth groundtruth
+KeyValue[] details
+
+================================================================================
+MSG: atf_msgs/DataStamped
+time stamp
+float64 data
+
+================================================================================
+MSG: atf_msgs/Groundtruth
+bool available
+bool result
+string error_message
+float64 data
+float64 epsilon
+
+================================================================================
+MSG: atf_msgs/KeyValue
+string key
+string value
+"""
+
+	new_type = "atf_msgs/MetricResult"
+	new_full_text = """
+uint8 SNAP        = 0
+uint8 SPAN_MEAN   = 1
+uint8 SPAN_MIN    = 2
+uint8 SPAN_ABSMIN = 3
+uint8 SPAN_MAX    = 4
+uint8 SPAN_ABSMAX = 5
+
+string name
+string unit
+uint8 mode
+int8 status # ENUM from TestblockStatus
+DataStamped[] series
+DataStamped data
+DataStamped min
+DataStamped max
+float64 mean
+float64 std
+Groundtruth groundtruth
+KeyValue[] details
+
+================================================================================
+MSG: atf_msgs/DataStamped
+time stamp
+float64 data
+
+================================================================================
+MSG: atf_msgs/Groundtruth
+# result status
+int8 FAILED      = -1
+int8 UNSET       = 0
+int8 SUCCEEDED   = 1
+
+bool available
+int8 result
+string error_message
+float64 data
+float64 epsilon
+
+================================================================================
+MSG: atf_msgs/KeyValue
+string key
+string value
+"""
+
+	order = 0
+	migrated_types = [
+		("DataStamped","DataStamped"),
+		("Groundtruth","Groundtruth"),
+		("KeyValue","KeyValue"),]
+
+	valid = True
+
+	def update(self, old_msg, new_msg):
+		#Constant 'SPAN' has changed
+		new_msg.name = old_msg.name
+		#No matching field name in old message
+		new_msg.unit = ''
+		new_msg.mode = old_msg.mode
+		#No matching field name in old message
+		new_msg.status = 0
+		self.migrate_array(old_msg.series, new_msg.series, "atf_msgs/DataStamped")
+		self.migrate(old_msg.data, new_msg.data)
+		self.migrate(old_msg.min, new_msg.min)
+		self.migrate(old_msg.max, new_msg.max)
+		new_msg.mean = old_msg.mean
+		new_msg.std = old_msg.std
+		self.migrate(old_msg.groundtruth, new_msg.groundtruth)
+		self.migrate_array(old_msg.details, new_msg.details, "atf_msgs/KeyValue")
+		#No field to match field started from old message
+		#No field to match field finished from old message
+class update_atf_msgs_Groundtruth_adbb6bb4eb068fd5af7659b413397d10(MessageUpdateRule):
+	old_type = "atf_msgs/Groundtruth"
+	old_full_text = """
+bool available
+bool result
+string error_message
+float64 data
+float64 epsilon
+"""
+
+	new_type = "atf_msgs/Groundtruth"
+	new_full_text = """
+# result status
+int8 FAILED      = -1
+int8 UNSET       = 0
+int8 SUCCEEDED   = 1
+
+bool available
+int8 result
+string error_message
+float64 data
+float64 epsilon
+"""
+
+	order = 0
+	migrated_types = []
+
+	valid = True
+
+	def update(self, old_msg, new_msg):
+		new_msg.available = old_msg.available
+		#Primitive type changed
+		if old_msg.result:
+			new_msg.result = 1
+		else:
+			new_msg.result = -1
+		new_msg.error_message = old_msg.error_message
+		new_msg.data = old_msg.data
+		new_msg.epsilon = old_msg.epsilon
+class update_atf_msgs_TestblockStatus_361a3a189cc39d4afd9ca41fbafd986b(MessageUpdateRule):
+	old_type = "atf_msgs/TestblockStatus"
+	old_full_text = """
+int8 INACTIVE    = -1
+int8 PURGED      = 0
+int8 ACTIVE      = 1
+int8 PAUSED      = 2
+int8 SUCCEEDED   = 3
+int8 ERROR       = 4
+
+time stamp
+string name
+int8 status
+MetricResult user_result
+
+================================================================================
+MSG: atf_msgs/MetricResult
+uint8 SNAP        = 0
+uint8 SPAN        = 1
+
+string name
+uint8 mode
+bool started
+bool finished
+DataStamped[] series
+DataStamped data
+DataStamped min
+DataStamped max
+float64 mean
+float64 std
+Groundtruth groundtruth
+KeyValue[] details
+
+================================================================================
+MSG: atf_msgs/DataStamped
+time stamp
+float64 data
+
+================================================================================
+MSG: atf_msgs/Groundtruth
+bool available
+bool result
+string error_message
+float64 data
+float64 epsilon
+
+================================================================================
+MSG: atf_msgs/KeyValue
+string key
+string value
+"""
+
+	new_type = "atf_msgs/TestblockStatus"
+	new_full_text = """
+int8 INACTIVE    = 0
+int8 ACTIVE      = 1
+int8 PAUSED      = 2
+int8 PURGED      = 3
+int8 SUCCEEDED   = 4
+int8 ERROR       = 5
+
+time stamp
+string name
+int8 status
+MetricResult user_result
+
+================================================================================
+MSG: atf_msgs/MetricResult
+uint8 SNAP        = 0
+uint8 SPAN_MEAN   = 1
+uint8 SPAN_MIN    = 2
+uint8 SPAN_ABSMIN = 3
+uint8 SPAN_MAX    = 4
+uint8 SPAN_ABSMAX = 5
+
+string name
+string unit
+uint8 mode
+int8 status # ENUM from TestblockStatus
+DataStamped[] series
+DataStamped data
+DataStamped min
+DataStamped max
+float64 mean
+float64 std
+Groundtruth groundtruth
+KeyValue[] details
+
+================================================================================
+MSG: atf_msgs/DataStamped
+time stamp
+float64 data
+
+================================================================================
+MSG: atf_msgs/Groundtruth
+# result status
+int8 FAILED      = -1
+int8 UNSET       = 0
+int8 SUCCEEDED   = 1
+
+bool available
+int8 result
+string error_message
+float64 data
+float64 epsilon
+
+================================================================================
+MSG: atf_msgs/KeyValue
+string key
+string value
+"""
+
+	order = 0
+	migrated_types = [
+		("MetricResult","MetricResult"),]
+
+	valid = True
+
+	def update(self, old_msg, new_msg):
+		#Constant 'SUCCEEDED' has changed
+		#Constant 'PURGED' has changed
+		#Constant 'INACTIVE' has changed
+		#Constant 'ERROR' has changed
+		new_msg.stamp = old_msg.stamp
+		new_msg.name = old_msg.name
+		status_dict = {
+			-1:0,
+			0:3,
+			1:1,
+			2:2,
+			3:4,
+			4:5
+		}
+		new_msg.status = status_dict[old_msg.status]
+		self.migrate(old_msg.user_result, new_msg.user_result)
diff --git a/atf_msgs/package.xml b/atf_msgs/package.xml
index b781694d..f6bc834b 100644
--- a/atf_msgs/package.xml
+++ b/atf_msgs/package.xml
@@ -17,6 +17,12 @@
     <exec_depend>message_runtime</exec_depend>
 
     <depend>actionlib_msgs</depend>
+    <depend>rosbag_migration_rule</depend>
     <depend>std_msgs</depend>
 
+    <export>
+        <architecture_independent/>
+        <rosbag migration_rule_file="migration_rules/rule202005.bmr.py"/>
+    </export>
+
 </package>