diff --git a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp
index f91c4e2036227..f1c25e8573e85 100644
--- a/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp
+++ b/perception/autoware_detected_object_validation/src/lanelet_filter/lanelet_filter.cpp
@@ -180,9 +180,9 @@ void ObjectLaneletFilterNode::objectCallback(
       std::chrono::nanoseconds(
         (this->get_clock()->now() - output_object_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);
-  debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+  debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
     "debug/processing_time_ms", stop_watch_ptr_->toc("processing_time", true));
 }
 
diff --git a/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp b/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp
index 979cdd3909f14..0c69b45291281 100644
--- a/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp
+++ b/perception/autoware_detected_object_validation/src/obstacle_pointcloud/obstacle_pointcloud_validator.cpp
@@ -386,7 +386,7 @@ void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud(
     std::chrono::duration<double, std::milli>(
       std::chrono::nanoseconds((this->get_clock()->now() - output.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);
 }