diff --git a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp
index ae07d54ad53d6..ac759504de557 100644
--- a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp
+++ b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp
@@ -173,9 +173,9 @@ void DistanceBasedCompareMapFilterComponent::filter(
   if (debug_publisher_) {
     const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);
     const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/cyclic_time_ms", cyclic_time_ms);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);
   }
 }
diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp
index 9f325b36676be..5794cfe37a45b 100644
--- a/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp
+++ b/perception/autoware_compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp
@@ -141,9 +141,9 @@ void VoxelBasedApproximateCompareMapFilterComponent::filter(
   if (debug_publisher_) {
     const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);
     const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/cyclic_time_ms", cyclic_time_ms);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);
   }
 }
diff --git a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp
index a31d5ec5dd6d6..db5e46a0eff5a 100644
--- a/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp
+++ b/perception/autoware_compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp
@@ -100,9 +100,9 @@ void VoxelBasedCompareMapFilterComponent::filter(
   if (debug_publisher_) {
     const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);
     const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/cyclic_time_ms", cyclic_time_ms);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);
   }
 }
diff --git a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp
index d0bcf381cd62f..775a931ac4c4c 100644
--- a/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp
+++ b/perception/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp
@@ -173,9 +173,9 @@ void VoxelDistanceBasedCompareMapFilterComponent::filter(
   if (debug_publisher_) {
     const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);
     const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/cyclic_time_ms", cyclic_time_ms);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);
   }
 }