diff --git a/sensing/autoware_pointcloud_preprocessor/docs/blockage-diag.md b/sensing/autoware_pointcloud_preprocessor/docs/blockage-diag.md
index 911cda3823021..a9dcb8437ec67 100644
--- a/sensing/autoware_pointcloud_preprocessor/docs/blockage-diag.md
+++ b/sensing/autoware_pointcloud_preprocessor/docs/blockage-diag.md
@@ -38,16 +38,16 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,
 
 ### Output
 
-| Name                                                      | Type                                    | Description                                                                                      |
-| :-------------------------------------------------------- | :-------------------------------------- | ------------------------------------------------------------------------------------------------ |
-| `~/output/blockage_diag/debug/blockage_mask_image`        | `sensor_msgs::msg::Image`               | The mask image of detected blockage                                                              |
-| `~/output/blockage_diag/debug/ground_blockage_ratio`      | `tier4_debug_msgs::msg::Float32Stamped` | The area ratio of blockage region in ground region                                               |
-| `~/output/blockage_diag/debug/sky_blockage_ratio`         | `tier4_debug_msgs::msg::Float32Stamped` | The area ratio of blockage region in sky region                                                  |
-| `~/output/blockage_diag/debug/lidar_depth_map`            | `sensor_msgs::msg::Image`               | The depth map image of input point cloud                                                         |
-| `~/output/blockage_diag/debug/single_frame_dust_mask`     | `sensor_msgs::msg::Image`               | The mask image of detected dusty area in latest single frame                                     |
-| `~/output/blockage_diag/debug/multi_frame_dust_mask`      | `sensor_msgs::msg::Image`               | The mask image of continuous detected dusty area                                                 |
-| `~/output/blockage_diag/debug/blockage_dust_merged_image` | `sensor_msgs::msg::Image`               | The merged image of blockage detection(red) and multi frame dusty area detection(yellow) results |
-| `~/output/blockage_diag/debug/ground_dust_ratio`          | `tier4_debug_msgs::msg::Float32Stamped` | The ratio of dusty area divided by area where ray usually returns from the ground.               |
+| Name                                                      | Type                                                | Description                                                                                      |
+| :-------------------------------------------------------- | :-------------------------------------------------- | ------------------------------------------------------------------------------------------------ |
+| `~/output/blockage_diag/debug/blockage_mask_image`        | `sensor_msgs::msg::Image`                           | The mask image of detected blockage                                                              |
+| `~/output/blockage_diag/debug/ground_blockage_ratio`      | `autoware_internal_debug_msgs::msg::Float32Stamped` | The area ratio of blockage region in ground region                                               |
+| `~/output/blockage_diag/debug/sky_blockage_ratio`         | `autoware_internal_debug_msgs::msg::Float32Stamped` | The area ratio of blockage region in sky region                                                  |
+| `~/output/blockage_diag/debug/lidar_depth_map`            | `sensor_msgs::msg::Image`                           | The depth map image of input point cloud                                                         |
+| `~/output/blockage_diag/debug/single_frame_dust_mask`     | `sensor_msgs::msg::Image`                           | The mask image of detected dusty area in latest single frame                                     |
+| `~/output/blockage_diag/debug/multi_frame_dust_mask`      | `sensor_msgs::msg::Image`                           | The mask image of continuous detected dusty area                                                 |
+| `~/output/blockage_diag/debug/blockage_dust_merged_image` | `sensor_msgs::msg::Image`                           | The merged image of blockage detection(red) and multi frame dusty area detection(yellow) results |
+| `~/output/blockage_diag/debug/ground_dust_ratio`          | `autoware_internal_debug_msgs::msg::Float32Stamped` | The ratio of dusty area divided by area where ray usually returns from the ground.               |
 
 ## Parameters
 
diff --git a/sensing/autoware_pointcloud_preprocessor/docs/dual-return-outlier-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/dual-return-outlier-filter.md
index 8f4da273861a3..0d0423d40ab83 100644
--- a/sensing/autoware_pointcloud_preprocessor/docs/dual-return-outlier-filter.md
+++ b/sensing/autoware_pointcloud_preprocessor/docs/dual-return-outlier-filter.md
@@ -36,11 +36,11 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class,
 
 ### Output
 
-| Name                                           | Type                                    | Description                                             |
-| ---------------------------------------------- | --------------------------------------- | ------------------------------------------------------- |
-| `/dual_return_outlier_filter/frequency_image`  | `sensor_msgs::msg::Image`               | The histogram image that represent visibility           |
-| `/dual_return_outlier_filter/visibility`       | `tier4_debug_msgs::msg::Float32Stamped` | A representation of visibility with a value from 0 to 1 |
-| `/dual_return_outlier_filter/pointcloud_noise` | `sensor_msgs::msg::Pointcloud2`         | The pointcloud removed as noise                         |
+| Name                                           | Type                                                | Description                                             |
+| ---------------------------------------------- | --------------------------------------------------- | ------------------------------------------------------- |
+| `/dual_return_outlier_filter/frequency_image`  | `sensor_msgs::msg::Image`                           | The histogram image that represent visibility           |
+| `/dual_return_outlier_filter/visibility`       | `autoware_internal_debug_msgs::msg::Float32Stamped` | A representation of visibility with a value from 0 to 1 |
+| `/dual_return_outlier_filter/pointcloud_noise` | `sensor_msgs::msg::Pointcloud2`                     | The pointcloud removed as noise                         |
 
 ## Parameters
 
diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/blockage_diag/blockage_diag_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/blockage_diag/blockage_diag_node.hpp
index 3601b492c4fe3..2dbda770f6cec 100644
--- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/blockage_diag/blockage_diag_node.hpp
+++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/blockage_diag/blockage_diag_node.hpp
@@ -22,10 +22,10 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <std_msgs/msg/header.hpp>
-#include <tier4_debug_msgs/msg/float32_stamped.hpp>
 
 #if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
@@ -58,10 +58,13 @@ class BlockageDiagComponent : public autoware::pointcloud_preprocessor::Filter
   image_transport::Publisher single_frame_dust_mask_pub;
   image_transport::Publisher multi_frame_dust_mask_pub;
   image_transport::Publisher blockage_dust_merged_pub;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr ground_blockage_ratio_pub_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr sky_blockage_ratio_pub_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr ground_dust_ratio_pub_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::StringStamped>::SharedPtr blockage_type_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr
+    ground_blockage_ratio_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr
+    sky_blockage_ratio_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr
+    ground_dust_ratio_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::StringStamped>::SharedPtr blockage_type_pub_;
 
 private:
   void onBlockageChecker(DiagnosticStatusWrapper & stat);
diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp
index 40adad3521f8d..6164e85c35717 100644
--- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp
+++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp
@@ -69,14 +69,14 @@
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
 
+#include <autoware_internal_debug_msgs/msg/int32_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/string_stamped.hpp>
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
-#include <tier4_debug_msgs/msg/int32_stamped.hpp>
-#include <tier4_debug_msgs/msg/string_stamped.hpp>
 
 #include <message_filters/pass_through.h>
 #include <message_filters/subscriber.h>
diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp
index 0e959eedae1b6..d57e44431a8d2 100644
--- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp
+++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp
@@ -68,13 +68,13 @@
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
 
+#include <autoware_internal_debug_msgs/msg/int32_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/string_stamped.hpp>
 #include <autoware_vehicle_msgs/msg/velocity_report.hpp>
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
-#include <tier4_debug_msgs/msg/int32_stamped.hpp>
-#include <tier4_debug_msgs/msg/string_stamped.hpp>
 
 #include <message_filters/pass_through.h>
 #include <message_filters/subscriber.h>
diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_node.hpp
index ef33e88ef5c98..fa55222fb6530 100644
--- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_node.hpp
+++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_node.hpp
@@ -22,9 +22,9 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <tier4_debug_msgs/msg/float32_stamped.hpp>
 
 #if __has_include(<cv_bridge/cv_bridge.hpp>)
 #include <cv_bridge/cv_bridge.hpp>
@@ -54,7 +54,7 @@ class DualReturnOutlierFilterComponent : public autoware::pointcloud_preprocesso
   /** \brief Parameter service callback */
   rcl_interfaces::msg::SetParametersResult paramCallback(const std::vector<rclcpp::Parameter> & p);
   image_transport::Publisher image_pub_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr visibility_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr visibility_pub_;
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr noise_cloud_pub_;
 
 private:
diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp
index c898cbacf33ea..96bd2fb2411a0 100644
--- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp
+++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_node.hpp
@@ -53,7 +53,7 @@ class RingOutlierFilterComponent : public autoware::pointcloud_preprocessor::Fil
     const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output,
     const TransformInfo & transform_info) override;
 
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr visibility_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr visibility_pub_;
 
 private:
   /** \brief publisher of excluded pointcloud for debug reason. **/
diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp
index d36fcb36a7be1..f4921be66a7e2 100644
--- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp
+++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp
@@ -68,14 +68,14 @@
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
 
+#include <autoware_internal_debug_msgs/msg/int32_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/string_stamped.hpp>
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
-#include <tier4_debug_msgs/msg/int32_stamped.hpp>
-#include <tier4_debug_msgs/msg/string_stamped.hpp>
 
 #include <message_filters/pass_through.h>
 #include <message_filters/subscriber.h>
diff --git a/sensing/autoware_pointcloud_preprocessor/package.xml b/sensing/autoware_pointcloud_preprocessor/package.xml
index 4511c5497a3a0..525b1f3eb0699 100644
--- a/sensing/autoware_pointcloud_preprocessor/package.xml
+++ b/sensing/autoware_pointcloud_preprocessor/package.xml
@@ -26,6 +26,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_pcl_extensions</depend>
   <depend>autoware_point_types</depend>
@@ -51,7 +52,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp
index 5021a3551c939..e05d5f789f680 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp
@@ -68,7 +68,7 @@ BlockageDiagComponent::BlockageDiagComponent(const rclcpp::NodeOptions & options
       std::string(this->get_namespace()) + ": dust_validation", this,
       &BlockageDiagComponent::dustChecker);
 
-    ground_dust_ratio_pub_ = create_publisher<tier4_debug_msgs::msg::Float32Stamped>(
+    ground_dust_ratio_pub_ = create_publisher<autoware_internal_debug_msgs::msg::Float32Stamped>(
       "blockage_diag/debug/ground_dust_ratio", rclcpp::SensorDataQoS());
     if (publish_debug_image_) {
       single_frame_dust_mask_pub =
@@ -86,9 +86,9 @@ BlockageDiagComponent::BlockageDiagComponent(const rclcpp::NodeOptions & options
     blockage_mask_pub_ =
       image_transport::create_publisher(this, "blockage_diag/debug/blockage_mask_image");
   }
-  ground_blockage_ratio_pub_ = create_publisher<tier4_debug_msgs::msg::Float32Stamped>(
+  ground_blockage_ratio_pub_ = create_publisher<autoware_internal_debug_msgs::msg::Float32Stamped>(
     "blockage_diag/debug/ground_blockage_ratio", rclcpp::SensorDataQoS());
-  sky_blockage_ratio_pub_ = create_publisher<tier4_debug_msgs::msg::Float32Stamped>(
+  sky_blockage_ratio_pub_ = create_publisher<autoware_internal_debug_msgs::msg::Float32Stamped>(
     "blockage_diag/debug/sky_blockage_ratio", rclcpp::SensorDataQoS());
   using std::placeholders::_1;
   set_param_res_ = this->add_on_set_parameters_callback(
@@ -315,7 +315,7 @@ void BlockageDiagComponent::filter(
     cv::Mat ground_mask(cv::Size(ideal_horizontal_bins, horizontal_ring_id_), CV_8UC1);
     cv::vconcat(sky_blank, single_dust_ground_img, single_dust_img);
 
-    tier4_debug_msgs::msg::Float32Stamped ground_dust_ratio_msg;
+    autoware_internal_debug_msgs::msg::Float32Stamped ground_dust_ratio_msg;
     ground_dust_ratio_ = static_cast<float>(cv::countNonZero(single_dust_ground_img)) /
                          (single_dust_ground_img.cols * single_dust_ground_img.rows);
     ground_dust_ratio_msg.data = ground_dust_ratio_;
@@ -386,12 +386,12 @@ void BlockageDiagComponent::filter(
     }
   }
 
-  tier4_debug_msgs::msg::Float32Stamped ground_blockage_ratio_msg;
+  autoware_internal_debug_msgs::msg::Float32Stamped ground_blockage_ratio_msg;
   ground_blockage_ratio_msg.data = ground_blockage_ratio_;
   ground_blockage_ratio_msg.stamp = now();
   ground_blockage_ratio_pub_->publish(ground_blockage_ratio_msg);
 
-  tier4_debug_msgs::msg::Float32Stamped sky_blockage_ratio_msg;
+  autoware_internal_debug_msgs::msg::Float32Stamped sky_blockage_ratio_msg;
   sky_blockage_ratio_msg.data = sky_blockage_ratio_;
   sky_blockage_ratio_msg.stamp = now();
   sky_blockage_ratio_pub_->publish(sky_blockage_ratio_msg);
diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp
index f8baae3405873..b49e21b8f30be 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp
@@ -455,9 +455,9 @@ void PointCloudConcatenateDataSynchronizerComponent::publish()
   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);
   }
   for (const auto & e : cloud_stdmap_) {
@@ -468,7 +468,7 @@ void PointCloudConcatenateDataSynchronizerComponent::publish()
             std::chrono::nanoseconds(
               (this->get_clock()->now() - e.second->header.stamp).nanoseconds()))
             .count();
-        debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+        debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
           "debug" + e.first + "/pipeline_latency_ms", pipeline_latency_ms);
       }
     }
diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp
index ba29389b88bf7..ba5e2eb51997a 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp
@@ -271,7 +271,7 @@ void PointCloudConcatenationComponent::publish()
             std::chrono::nanoseconds(
               (this->get_clock()->now() - e.second->header.stamp).nanoseconds()))
             .count();
-        debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+        debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
           "debug" + e.first + "/pipeline_latency_ms", pipeline_latency_ms);
       }
     }
@@ -297,9 +297,9 @@ void PointCloudConcatenationComponent::publish()
   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/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp
index ecbc5b8fd13ef..54c940d414db8 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_node.cpp
@@ -194,9 +194,9 @@ void CropBoxFilterComponent::faster_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);
 
     auto pipeline_latency_ms =
@@ -204,7 +204,7 @@ void CropBoxFilterComponent::faster_filter(
         std::chrono::nanoseconds((this->get_clock()->now() - input->header.stamp).nanoseconds()))
         .count();
 
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/pipeline_latency_ms", pipeline_latency_ms);
   }
 }
diff --git a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp
index 9eaafeae9dbc7..cc05a6cc2765c 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp
@@ -123,7 +123,7 @@ void DistortionCorrectorComponent::pointcloud_callback(PointCloud2::UniquePtr po
         std::chrono::nanoseconds(
           (this->get_clock()->now() - pointcloud_msg->header.stamp).nanoseconds()))
         .count();
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/pipeline_latency_ms", pipeline_latency_ms);
   }
 
@@ -133,9 +133,9 @@ void DistortionCorrectorComponent::pointcloud_callback(PointCloud2::UniquePtr po
   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/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp
index 3d2bc0a206c94..0c467234d6591 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp
@@ -142,9 +142,9 @@ void PickupBasedVoxelGridDownsampleFilterComponent::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);
 
     auto pipeline_latency_ms =
@@ -152,7 +152,7 @@ void PickupBasedVoxelGridDownsampleFilterComponent::filter(
         std::chrono::nanoseconds((this->get_clock()->now() - input->header.stamp).nanoseconds()))
         .count();
 
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/pipeline_latency_ms", pipeline_latency_ms);
   }
 }
diff --git a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_node.cpp
index a8024e02de2c1..bac3a59e09528 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_node.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_node.cpp
@@ -65,7 +65,7 @@ DualReturnOutlierFilterComponent::DualReturnOutlierFilterComponent(
 
   image_pub_ =
     image_transport::create_publisher(this, "dual_return_outlier_filter/debug/frequency_image");
-  visibility_pub_ = create_publisher<tier4_debug_msgs::msg::Float32Stamped>(
+  visibility_pub_ = create_publisher<autoware_internal_debug_msgs::msg::Float32Stamped>(
     "dual_return_outlier_filter/debug/visibility", rclcpp::SensorDataQoS());
   {
     rclcpp::PublisherOptions pub_options;
@@ -322,7 +322,7 @@ void DualReturnOutlierFilterComponent::filter(
   frequency_image_msg->header = input->header;
   // Publish histogram image
   image_pub_.publish(frequency_image_msg);
-  tier4_debug_msgs::msg::Float32Stamped visibility_msg;
+  autoware_internal_debug_msgs::msg::Float32Stamped visibility_msg;
   visibility_msg.data = (1.0f - filled);
   visibility_msg.stamp = now();
   visibility_pub_->publish(visibility_msg);
diff --git a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp
index fae9043143ba4..fcea299ba5aff 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_node.cpp
@@ -41,7 +41,7 @@ RingOutlierFilterComponent::RingOutlierFilterComponent(const rclcpp::NodeOptions
       outlier_pointcloud_publisher_ =
         this->create_publisher<PointCloud2>("debug/ring_outlier_filter", 1, pub_options);
     }
-    visibility_pub_ = create_publisher<tier4_debug_msgs::msg::Float32Stamped>(
+    visibility_pub_ = create_publisher<autoware_internal_debug_msgs::msg::Float32Stamped>(
       "ring_outlier_filter/debug/visibility", rclcpp::SensorDataQoS());
     stop_watch_ptr_->tic("cyclic_time");
     stop_watch_ptr_->tic("processing_time");
@@ -262,7 +262,7 @@ void RingOutlierFilterComponent::faster_filter(
     outlier.header = input->header;
     outlier_pointcloud_publisher_->publish(outlier);
 
-    tier4_debug_msgs::msg::Float32Stamped visibility_msg;
+    autoware_internal_debug_msgs::msg::Float32Stamped visibility_msg;
     visibility_msg.data = calculateVisibilityScore(outlier);
     visibility_msg.stamp = input->header.stamp;
     visibility_pub_->publish(visibility_msg);
@@ -272,9 +272,9 @@ void RingOutlierFilterComponent::faster_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);
 
     auto pipeline_latency_ms =
@@ -282,7 +282,7 @@ void RingOutlierFilterComponent::faster_filter(
         std::chrono::nanoseconds((this->get_clock()->now() - input->header.stamp).nanoseconds()))
         .count();
 
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/pipeline_latency_ms", pipeline_latency_ms);
   }
 }
diff --git a/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp
index 42170fd88ee36..e5bd4a955590f 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp
@@ -378,7 +378,7 @@ void PointCloudDataSynchronizerComponent::publish()
             std::chrono::nanoseconds(
               (this->get_clock()->now() - e.second->header.stamp).nanoseconds()))
             .count();
-        debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+        debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
           "debug" + e.first + "/pipeline_latency_ms", pipeline_latency_ms);
       }
       auto output = std::make_unique<sensor_msgs::msg::PointCloud2>(*e.second);
@@ -400,9 +400,9 @@ void PointCloudDataSynchronizerComponent::publish()
   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);
   }
 }