diff --git a/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash
index d2687b352a17d..7a50a7e118298 100644
--- a/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash
+++ b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash
@@ -7,27 +7,27 @@ gnome-terminal -- bash -c 'ros2 topic echo /vehicle/status/steering_status autow
 gnome-terminal -- bash -c 'ros2 topic echo /control/command/control_cmd autoware_control_msgs/msg/Control --csv --qos-history keep_all --qos-reliability reliable > control_cmd.csv'
 gnome-terminal -- bash -c 'ros2 topic echo /control/trajectory_follower/control_cmd autoware_control_msgs/msg/Control --csv --qos-history keep_all --qos-reliability reliable > control_cmd_orig.csv'
 
-gnome-terminal -- bash -c 'ros2 topic echo /control/trajectory_follower/lane_departure_checker_node/debug/deviation/lateral tier4_debug_msgs/msg/Float64Stamped --csv --qos-history keep_all --qos-reliability reliable > lateral_error.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /control/trajectory_follower/lane_departure_checker_node/debug/deviation/yaw tier4_debug_msgs/msg/Float64Stamped --csv --qos-history keep_all --qos-reliability reliable > yaw_error.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /control/trajectory_follower/lane_departure_checker_node/debug/deviation/lateral autoware_internal_debug_msgs/msg/Float64Stamped --csv --qos-history keep_all --qos-reliability reliable > lateral_error.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /control/trajectory_follower/lane_departure_checker_node/debug/deviation/yaw autoware_internal_debug_msgs/msg/Float64Stamped --csv --qos-history keep_all --qos-reliability reliable > yaw_error.csv'
 
 gnome-terminal -- bash -c 'ros2 topic echo /system/operation_mode/state autoware_adapi_v1_msgs/msg/OperationModeState --csv --qos-history keep_all --qos-reliability reliable > system_operation_mode_state.csv'
 gnome-terminal -- bash -c 'ros2 topic echo /vehicle/status/control_mode autoware_vehicle_msgs/msg/ControlModeReport --csv --qos-history keep_all --qos-reliability reliable > vehicle_status_control_mode.csv'
 gnome-terminal -- bash -c 'ros2 topic echo /sensing/imu/imu_data sensor_msgs/msg/Imu --csv --qos-history keep_all --qos-reliability reliable > imu.csv'
 
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_x_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_x_des.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_y_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_y_des.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_v_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_v_des.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_yaw_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_yaw_des.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_acc_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_acc_des.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_steer_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_steer_des.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_X_des_converted tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_X_des_converted.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_x_current tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_x_current.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_error_prediction tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_error_prediction.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_max_trajectory_err tier4_debug_msgs/msg/Float32Stamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_max_trajectory_err.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_emergency_stop_mode tier4_debug_msgs/msg/BoolStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_emergency_stop_mode.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_goal_stop_mode tier4_debug_msgs/msg/BoolStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_goal_stop_mode.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_total_ctrl_time tier4_debug_msgs/msg/Float32Stamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_total_ctrl_time.csv'
-gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_calc_u_opt_time tier4_debug_msgs/msg/Float32Stamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_calc_u_opt_time.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_x_des autoware_internal_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_x_des.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_y_des autoware_internal_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_y_des.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_v_des autoware_internal_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_v_des.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_yaw_des autoware_internal_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_yaw_des.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_acc_des autoware_internal_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_acc_des.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_steer_des autoware_internal_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_steer_des.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_X_des_converted autoware_internal_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_X_des_converted.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_x_current autoware_internal_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_x_current.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_error_prediction autoware_internal_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_error_prediction.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_max_trajectory_err autoware_internal_debug_msgs/msg/Float32Stamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_max_trajectory_err.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_emergency_stop_mode autoware_internal_debug_msgs/msg/BoolStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_emergency_stop_mode.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_goal_stop_mode autoware_internal_debug_msgs/msg/BoolStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_goal_stop_mode.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_total_ctrl_time autoware_internal_debug_msgs/msg/Float32Stamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_total_ctrl_time.csv'
+gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_calc_u_opt_time autoware_internal_debug_msgs/msg/Float32Stamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_calc_u_opt_time.csv'
 
 # wait a moment to open new terminals converting rosbag2 to csv
 sleep 8
diff --git a/control/autoware_smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py b/control/autoware_smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py
index f767dad223f0d..104261866cf98 100755
--- a/control/autoware_smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py
+++ b/control/autoware_smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py
@@ -21,6 +21,9 @@
 
 from autoware_adapi_v1_msgs.msg import OperationModeState
 from autoware_control_msgs.msg import Control
+from autoware_internal_debug_msgs.msg import BoolStamped
+from autoware_internal_debug_msgs.msg import Float32MultiArrayStamped
+from autoware_internal_debug_msgs.msg import Float32Stamped
 from autoware_planning_msgs.msg import Trajectory
 from autoware_planning_msgs.msg import TrajectoryPoint
 from autoware_smart_mpc_trajectory_follower.scripts import drive_controller
@@ -43,9 +46,6 @@
 from scipy.spatial.transform import Rotation as R
 from scipy.spatial.transform import Slerp
 from std_msgs.msg import String
-from tier4_debug_msgs.msg import BoolStamped
-from tier4_debug_msgs.msg import Float32MultiArrayStamped
-from tier4_debug_msgs.msg import Float32Stamped
 from visualization_msgs.msg import Marker
 from visualization_msgs.msg import MarkerArray