Recent discovery of superconductivity in CeRh$_2$As$_2$ clarified an unusual $H$-$T$ phase diagram with two superconducting phases [Khim et al. arXiv:2101.09522]. The experimental observation has been interpreted based on the even-odd parity transition characteristic of locally noncentrosymmetric superconductors. Indeed, the inversion symmetry is locally broken at the Ce site, and CeRh$_2$As$_2$ molds a new class of exotic superconductors. The low-temperature and high-field superconducting phase is a candidate for the odd-parity pair-density-wave state, suggesting a possibility of topological superconductivity as spin-triplet superconductors are. In this paper, we first derive the formula expressing the $mathbb{Z}_2$ invariant of glide symmetric and time-reversal symmetry broken superconductors by the number of Fermi surfaces on a glide invariant line. Next, we conduct a first-principles calculation for the electronic structure of CeRh$_2$As$_2$. Combining the results, we show that the field-induced odd-parity superconducting phase of CeRh$_2$As$_2$ is a platform of topological crystalline superconductivity protected by the nonsymmorphic glide symmetry and accompanied by boundary Majorana fermions.
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