diff --git a/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp b/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp
index 2a0ad4f987dad..cd05bed5ce476 100644
--- a/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp
+++ b/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp
@@ -28,6 +28,8 @@
 
 #include <Eigen/Dense>
 
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_stamped.hpp"
 #include "autoware_vehicle_msgs/msg/steering_report.hpp"
 #include "autoware_vehicle_msgs/msg/velocity_report.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
@@ -37,8 +39,6 @@
 #include "std_msgs/msg/multi_array_dimension.hpp"
 #include "std_msgs/msg/string.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
-#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
-#include "tier4_debug_msgs/msg/float32_stamped.hpp"
 #include "tier4_external_api_msgs/msg/calibration_status.hpp"
 #include "tier4_external_api_msgs/msg/calibration_status_array.hpp"
 #include "tier4_external_api_msgs/srv/get_accel_brake_map_calibration_data.hpp"
@@ -57,6 +57,8 @@
 
 namespace autoware::accel_brake_map_calibrator
 {
+using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
+using autoware_internal_debug_msgs::msg::Float32Stamped;
 using autoware_vehicle_msgs::msg::SteeringReport;
 using autoware_vehicle_msgs::msg::VelocityReport;
 using geometry_msgs::msg::TwistStamped;
@@ -64,8 +66,6 @@ using nav_msgs::msg::OccupancyGrid;
 using raw_vehicle_cmd_converter::AccelMap;
 using raw_vehicle_cmd_converter::BrakeMap;
 using std_msgs::msg::Float32MultiArray;
-using tier4_debug_msgs::msg::Float32MultiArrayStamped;
-using tier4_debug_msgs::msg::Float32Stamped;
 using tier4_external_api_msgs::msg::CalibrationStatus;
 using tier4_vehicle_msgs::msg::ActuationCommandStamped;
 using tier4_vehicle_msgs::msg::ActuationStatusStamped;
diff --git a/vehicle/autoware_accel_brake_map_calibrator/package.xml b/vehicle/autoware_accel_brake_map_calibrator/package.xml
index de2dcf2d8e440..f166bd119ed6a 100644
--- a/vehicle/autoware_accel_brake_map_calibrator/package.xml
+++ b/vehicle/autoware_accel_brake_map_calibrator/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_raw_vehicle_cmd_converter</depend>
   <depend>autoware_universe_utils</depend>
@@ -25,7 +26,6 @@
   <depend>std_srvs</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
   <depend>tier4_external_api_msgs</depend>
   <depend>tier4_vehicle_msgs</depend>
   <depend>visualization_msgs</depend>
diff --git a/vehicle/autoware_accel_brake_map_calibrator/scripts/accel_tester.py b/vehicle/autoware_accel_brake_map_calibrator/scripts/accel_tester.py
index f73718f7ea7bc..8aef30f9ee251 100755
--- a/vehicle/autoware_accel_brake_map_calibrator/scripts/accel_tester.py
+++ b/vehicle/autoware_accel_brake_map_calibrator/scripts/accel_tester.py
@@ -15,9 +15,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from autoware_internal_debug_msgs.msg import Float32Stamped
 import rclpy
 from rclpy.node import Node
-from tier4_debug_msgs.msg import Float32Stamped
 
 MAX_ACCEL = 1.0  # [-]
 MIN_ACCEL = 0.0  # [-]
diff --git a/vehicle/autoware_accel_brake_map_calibrator/scripts/actuation_cmd_publisher.py b/vehicle/autoware_accel_brake_map_calibrator/scripts/actuation_cmd_publisher.py
index 3a029e193f41f..334b5652dc8b6 100755
--- a/vehicle/autoware_accel_brake_map_calibrator/scripts/actuation_cmd_publisher.py
+++ b/vehicle/autoware_accel_brake_map_calibrator/scripts/actuation_cmd_publisher.py
@@ -15,10 +15,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from autoware_internal_debug_msgs.msg import Float32Stamped
 from autoware_vehicle_msgs.msg import GearCommand
 import rclpy
 from rclpy.node import Node
-from tier4_debug_msgs.msg import Float32Stamped
 from tier4_vehicle_msgs.msg import ActuationCommandStamped
 
 
diff --git a/vehicle/autoware_accel_brake_map_calibrator/scripts/brake_tester.py b/vehicle/autoware_accel_brake_map_calibrator/scripts/brake_tester.py
index 050f232334afd..fe067494a0c39 100755
--- a/vehicle/autoware_accel_brake_map_calibrator/scripts/brake_tester.py
+++ b/vehicle/autoware_accel_brake_map_calibrator/scripts/brake_tester.py
@@ -16,9 +16,9 @@
 # limitations under the License.
 
 
+from autoware_internal_debug_msgs.msg import Float32Stamped
 import rclpy
 from rclpy.node import Node
-from tier4_debug_msgs.msg import Float32Stamped
 
 MAX_BRAKE = 1.0  # [-]
 MIN_BRAKE = 0.0  # [-]