diff --git a/sensing/autoware_gnss_poser/README.md b/sensing/autoware_gnss_poser/README.md
index dc339eef..464498c2 100644
--- a/sensing/autoware_gnss_poser/README.md
+++ b/sensing/autoware_gnss_poser/README.md
@@ -17,29 +17,29 @@ If the transformation from `base_link` to the antenna cannot be obtained, it out
 
 | Name                           | Type                                                    | Description                                                                                                                    |
 | ------------------------------ | ------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ |
-| `/map/map_projector_info`      | `autoware_map_msgs::msg::MapProjectorInfo`            | map projection info                                                                                                            |
+| `/map/map_projector_info`      | `autoware_map_msgs::msg::MapProjectorInfo`              | map projection info                                                                                                            |
 | `~/input/fix`                  | `sensor_msgs::msg::NavSatFix`                           | gnss status message                                                                                                            |
 | `~/input/autoware_orientation` | `autoware_sensing_msgs::msg::GnssInsOrientationStamped` | orientation [click here for more details](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_sensing_msgs) |
 
 ### Output
 
-| Name                     | Type                                            | Description                                                    |
-| ------------------------ | ----------------------------------------------- | -------------------------------------------------------------- |
-| `~/output/pose`          | `geometry_msgs::msg::PoseStamped`               | vehicle pose calculated from gnss sensing data                 |
-| `~/output/gnss_pose_cov` | `geometry_msgs::msg::PoseWithCovarianceStamped` | vehicle pose with covariance calculated from gnss sensing data |
-| `~/output/gnss_fixed`    | `autoware_internal_debug_msgs::msg::BoolStamped`   | gnss fix status                           |
+| Name                     | Type                                             | Description                                                    |
+| ------------------------ | ------------------------------------------------ | -------------------------------------------------------------- |
+| `~/output/pose`          | `geometry_msgs::msg::PoseStamped`                | vehicle pose calculated from gnss sensing data                 |
+| `~/output/gnss_pose_cov` | `geometry_msgs::msg::PoseWithCovarianceStamped`  | vehicle pose with covariance calculated from gnss sensing data |
+| `~/output/gnss_fixed`    | `autoware_internal_debug_msgs::msg::BoolStamped` | gnss fix status                                                |
 
 ## Parameters
 
 Parameters in below table
 
-| Name                     | Type                   | Default                  | Description                                                    |
-| ------------------------ | -----------------------| ------------------------ | -------------------------------------------------------------- |
-| `base_frame`          | `string`   | `base_link` | frame id for base_frame                 |
-| `gnss_base_frame` | `string` | `gnss_base_link` |  frame id for gnss_base_frame |
-| `map_frame`    | `string`  | `map` | frame id for map_frame                           |
-| `use_gnss_ins_orientation`   | `boolean`  | `true` | use Gnss-Ins orientation                           |
-| `gnss_pose_pub_method` | `integer` | `0` | 0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.         |
-| `buff_epoch`    | `integer`  | `1` | Buffer epoch. Range: 0~inf.                          |
+| Name                       | Type      | Default          | Description                                                                                                                        |
+| -------------------------- | --------- | ---------------- | ---------------------------------------------------------------------------------------------------------------------------------- |
+| `base_frame`               | `string`  | `base_link`      | frame id for base_frame                                                                                                            |
+| `gnss_base_frame`          | `string`  | `gnss_base_link` | frame id for gnss_base_frame                                                                                                       |
+| `map_frame`                | `string`  | `map`            | frame id for map_frame                                                                                                             |
+| `use_gnss_ins_orientation` | `boolean` | `true`           | use Gnss-Ins orientation                                                                                                           |
+| `gnss_pose_pub_method`     | `integer` | `0`              | 0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2. |
+| `buff_epoch`               | `integer` | `1`              | Buffer epoch. Range: 0~inf.                                                                                                        |
 
 All above parameters can be changed in config file [gnss_poser.param.yaml](./config/gnss_poser.param.yaml "Click here to open config file") .
diff --git a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp
index 2b34fcf1..b4bfc911 100644
--- a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp
+++ b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp
@@ -17,11 +17,11 @@
 #include <autoware/component_interface_specs/map.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
 #include <autoware_sensing_msgs/msg/gnss_ins_orientation_stamped.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <sensor_msgs/msg/nav_sat_fix.hpp>
-#include <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
 
 #include <boost/circular_buffer.hpp>
 
diff --git a/sensing/autoware_gnss_poser/package.xml b/sensing/autoware_gnss_poser/package.xml
index 8dd115b4..f9c1b050 100644
--- a/sensing/autoware_gnss_poser/package.xml
+++ b/sensing/autoware_gnss_poser/package.xml
@@ -22,6 +22,7 @@
 
   <depend>autoware_component_interface_specs</depend>
   <depend>autoware_geography_utils</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_sensing_msgs</depend>
   <depend>geographic_msgs</depend>
   <depend>geographiclib</depend>
@@ -32,7 +33,6 @@
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>autoware_internal_debug_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp b/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp
index 60775998..07f3bccf 100644
--- a/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp
+++ b/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp
@@ -59,7 +59,8 @@ GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options)
   pose_pub_ = create_publisher<geometry_msgs::msg::PoseStamped>("gnss_pose", rclcpp::QoS{1});
   pose_cov_pub_ = create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>(
     "gnss_pose_cov", rclcpp::QoS{1});
-  fixed_pub_ = create_publisher<autoware_internal_debug_msgs::msg::BoolStamped>("gnss_fixed", rclcpp::QoS{1});
+  fixed_pub_ =
+    create_publisher<autoware_internal_debug_msgs::msg::BoolStamped>("gnss_fixed", rclcpp::QoS{1});
 
   // Set msg_gnss_ins_orientation_stamped_ with temporary values (not to publish zero value
   // covariances)