This paper is concerned with a class of semilinear hyperbolic systems in odd space dimensions. Our main aim is to prove the existence of a small amplitude solution which is asymptotic to the free solution as t → -∞ in the energy norm, and to show it has a free profile as t → +∞. Our approach is based on the work of [11]. Namely we use a weighted L∞ norm to get suitable a priori estimates. This can be done by restricting our attention to radially symmetric solutions. Corresponding initial value problem is also considered in an analogous framework. Besides, we give an extended result of [14] for three space dimensional case in Section 5, which is prepared independently of the other parts of the paper.