A system for utilizing waste heat from a vehicle has a Rankine circuit, and the Rankine circuit includes a fluid machine. A generating unit of the fluid machine has a third rotating body that is disposed coaxially with a first rotating body of a pump unit and a second rotating body of an expansion unit. The fluid machine has a drive shaft that is integrally connected at least to the first rotating body, among the first, second and third rotating bodies, and a power transmission unit that is connected to the drive shaft and transmits external power to the drive shaft.