diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_node.hpp
index c84c19a8728dd..654593e317ad9 100644
--- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_node.hpp
+++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_node.hpp
@@ -31,14 +31,14 @@
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
 
+#include <autoware_internal_debug_msgs/msg/int32_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/string_stamped.hpp>
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
-#include <tier4_debug_msgs/msg/int32_stamped.hpp>
-#include <tier4_debug_msgs/msg/string_stamped.hpp>
 
 #include <message_filters/pass_through.h>
 #include <message_filters/subscriber.h>
diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_node.cpp
index a09a15ac164c8..e168781c647ed 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_node.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_node.cpp
@@ -330,14 +330,14 @@ void PointCloudConcatenateDataSynchronizerComponent::publish_clouds(
   if (debug_publisher_) {
     const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);
     const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/cyclic_time_ms", cyclic_time_ms);
-    debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);
 
     for (const auto & [topic, stamp] : concatenated_cloud_result.topic_to_original_stamp_map) {
       const auto pipeline_latency_ms = (this->get_clock()->now().seconds() - stamp) * 1000;
-      debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+      debug_publisher_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
         "debug" + topic + "/pipeline_latency_ms", pipeline_latency_ms);
     }
   }