diff --git a/control/stop_accel_evaluator/include/stop_accel_evaluator/stop_accel_evaluator_node.hpp b/control/stop_accel_evaluator/include/stop_accel_evaluator/stop_accel_evaluator_node.hpp
index 32c905704..83f006de1 100644
--- a/control/stop_accel_evaluator/include/stop_accel_evaluator/stop_accel_evaluator_node.hpp
+++ b/control/stop_accel_evaluator/include/stop_accel_evaluator/stop_accel_evaluator_node.hpp
@@ -22,8 +22,8 @@
 #include "geometry_msgs/msg/twist_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "sensor_msgs/msg/imu.hpp"
-#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
-#include "tier4_debug_msgs/msg/float32_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_stamped.hpp"
 
 #include <deque>
 #include <memory>
@@ -34,8 +34,8 @@ using autoware::universe_utils::SelfPoseListener;
 using geometry_msgs::msg::TwistStamped;
 using nav_msgs::msg::Odometry;
 using sensor_msgs::msg::Imu;
-using tier4_debug_msgs::msg::Float32MultiArrayStamped;
-using tier4_debug_msgs::msg::Float32Stamped;
+using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
+using autoware_internal_debug_msgs::msg::Float32Stamped;
 
 class StopAccelEvaluatorNode : public rclcpp::Node
 {
diff --git a/control/stop_accel_evaluator/package.xml b/control/stop_accel_evaluator/package.xml
index 06828fe4a..9f978aa71 100644
--- a/control/stop_accel_evaluator/package.xml
+++ b/control/stop_accel_evaluator/package.xml
@@ -18,7 +18,7 @@
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
-  <depend>tier4_debug_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>