diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp
index f2269aeaa2967..6feeb3d38b769 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/pid_based_planner/cruise_planning_debug_info.hpp
@@ -17,11 +17,11 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
 
 #include <array>
 
-using tier4_debug_msgs::msg::Float32MultiArrayStamped;
+using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
 
 class CruisePlanningDebugInfo
 {
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/stop_planning_debug_info.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/stop_planning_debug_info.hpp
index ef4f5d0eba808..1e1a4b75d6178 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/stop_planning_debug_info.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/stop_planning_debug_info.hpp
@@ -17,11 +17,11 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
 
 #include <array>
 
-using tier4_debug_msgs::msg::Float32MultiArrayStamped;
+using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
 
 class StopPlanningDebugInfo
 {
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp
index 31344903b6809..64156be9b7987 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp
@@ -17,6 +17,8 @@
 
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 
+#include "autoware_internal_debug_msgs/msg/float32_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/float64_stamped.hpp"
 #include "autoware_perception_msgs/msg/predicted_object.hpp"
 #include "autoware_perception_msgs/msg/predicted_objects.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
@@ -26,8 +28,6 @@
 #include "geometry_msgs/msg/twist_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "sensor_msgs/msg/point_cloud2.hpp"
-#include "tier4_debug_msgs/msg/float32_stamped.hpp"
-#include "tier4_debug_msgs/msg/float64_stamped.hpp"
 #include "tier4_planning_msgs/msg/stop_speed_exceeded.hpp"
 #include "tier4_planning_msgs/msg/velocity_limit.hpp"
 #include "tier4_planning_msgs/msg/velocity_limit_clear_command.hpp"
@@ -37,6 +37,8 @@
 #include <pcl/point_types.h>
 
 using autoware::vehicle_info_utils::VehicleInfo;
+using autoware_internal_debug_msgs::msg::Float32Stamped;
+using autoware_internal_debug_msgs::msg::Float64Stamped;
 using autoware_perception_msgs::msg::ObjectClassification;
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
@@ -49,8 +51,6 @@ using geometry_msgs::msg::AccelWithCovarianceStamped;
 using geometry_msgs::msg::Twist;
 using nav_msgs::msg::Odometry;
 using sensor_msgs::msg::PointCloud2;
-using tier4_debug_msgs::msg::Float32Stamped;
-using tier4_debug_msgs::msg::Float64Stamped;
 using tier4_planning_msgs::msg::StopSpeedExceeded;
 using tier4_planning_msgs::msg::VelocityLimit;
 using tier4_planning_msgs::msg::VelocityLimitClearCommand;
diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml
index 71c3b1fb1e0d5..807908de2d6dc 100644
--- a/planning/autoware_obstacle_cruise_planner/package.xml
+++ b/planning/autoware_obstacle_cruise_planner/package.xml
@@ -18,6 +18,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
@@ -38,7 +39,6 @@
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
   <depend>tier4_metric_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>