diff --git a/build_depends.repos b/build_depends.repos
index 0c1deb7194cfb..61a56463e2e41 100644
--- a/build_depends.repos
+++ b/build_depends.repos
@@ -28,7 +28,7 @@ repositories:
   core/autoware_adapi_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
-    version: 1.3.0
+    version: beta/1.7.0
   core/autoware_internal_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_internal_msgs.git