diff --git a/common/trtexec_vendor/CMakeLists.txt b/common/trtexec_vendor/CMakeLists.txt
deleted file mode 100644
index 220e7e6d06f81..0000000000000
--- a/common/trtexec_vendor/CMakeLists.txt
+++ /dev/null
@@ -1,88 +0,0 @@
-cmake_minimum_required(VERSION 3.14)
-project(trtexec_vendor)
-
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
-  set(CMAKE_CXX_EXTENSIONS OFF)
-endif()
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-find_package(ament_cmake REQUIRED)
-find_package(CUDA)
-find_package(cudnn_cmake_module REQUIRED)
-find_package(CUDNN)
-find_package(tensorrt_cmake_module REQUIRED)
-find_package(TENSORRT)
-
-if(NOT (${CUDA_FOUND} AND ${CUDNN_FOUND} AND ${TENSORRT_FOUND}))
-  message(WARNING "cuda, cudnn, tensorrt libraries are not found")
-  return()
-endif()
-
-if(${TENSORRT_VERSION} VERSION_LESS 8.2.1)
-  message(WARNING "The tensorrt version less than 8.2.1 isn't supported.")
-  return()
-endif()
-
-set(TRTEXEC_DEFAULT_BIN /usr/src/tensorrt/bin/trtexec)
-if(NOT EXISTS TRTEXEC_DEFAULT_BIN)
-  include(FetchContent)
-  if(${TENSORRT_VERSION} VERSION_EQUAL 8.4.2)
-    set(TENSORRT_VERSION 8.4.1)
-  elseif(${TENSORRT_VERSION} VERSION_LESS_EQUAL 8.2.5 AND ${TENSORRT_VERSION} VERSION_GREATER 8.2.1)
-    set(TENSORRT_VERSION 8.2.1)
-  endif()
-  fetchcontent_declare(tensorrt
-    GIT_REPOSITORY https://github.com/NVIDIA/TensorRT
-    GIT_TAG ${TENSORRT_VERSION}
-    GIT_SUBMODULES ""
-  )
-  fetchcontent_getproperties(tensorrt)
-  if(NOT tensorrt_POPULATED)
-    fetchcontent_populate(tensorrt)
-  endif()
-  set(TRTEXEC_SOURCES
-    ${tensorrt_SOURCE_DIR}/samples/trtexec/trtexec.cpp
-    ${tensorrt_SOURCE_DIR}/samples/common/sampleEngines.cpp
-    ${tensorrt_SOURCE_DIR}/samples/common/sampleInference.cpp
-    ${tensorrt_SOURCE_DIR}/samples/common/sampleOptions.cpp
-    ${tensorrt_SOURCE_DIR}/samples/common/sampleReporting.cpp
-    ${tensorrt_SOURCE_DIR}/samples/common/logger.cpp
-  )
-  if(${TENSORRT_VERSION} VERSION_GREATER_EQUAL 8.4)
-    list(APPEND TRTEXEC_SOURCES
-      ${tensorrt_SOURCE_DIR}/samples/common/sampleUtils.cpp
-    )
-  endif()
-  cuda_add_executable(${PROJECT_NAME}
-    ${TRTEXEC_SOURCES}
-  )
-  target_link_libraries(${PROJECT_NAME}
-    ${TENSORRT_LIBRARIES}
-  )
-  target_include_directories(${PROJECT_NAME}
-    PRIVATE ${tensorrt_SOURCE_DIR}/samples/common
-  )
-
-  set_target_properties(${PROJECT_NAME}
-    PROPERTIES OUTPUT_NAME trtexec
-  )
-
-  install(TARGETS ${PROJECT_NAME}
-    ARCHIVE DESTINATION lib
-    LIBRARY DESTINATION lib
-    RUNTIME DESTINATION bin
-  )
-endif()
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.sh.in")
-
-ament_package()
diff --git a/common/trtexec_vendor/env-hooks/trtexec_vendor.sh.in b/common/trtexec_vendor/env-hooks/trtexec_vendor.sh.in
deleted file mode 100644
index 7c2ef456ecfec..0000000000000
--- a/common/trtexec_vendor/env-hooks/trtexec_vendor.sh.in
+++ /dev/null
@@ -1,5 +0,0 @@
-TRTEXEC_DEFAULT_BIN_DIR=/usr/src/tensorrt/bin
-TRTEXEC_DEFAULT_BIN=$TRTEXEC_DEFAULT_BIN_DIR/trtexec
-if [ -f $TRTEXEC_DEFAULT_BIN ]; then
-  ament_prepend_unique_value PATH $TRTEXEC_DEFAULT_BIN_DIR
-fi
diff --git a/common/trtexec_vendor/package.xml b/common/trtexec_vendor/package.xml
deleted file mode 100644
index f197858060f3a..0000000000000
--- a/common/trtexec_vendor/package.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>trtexec_vendor</name>
-  <version>0.1.0</version>
-  <description>The vendor package of trtexec</description>
-  <maintainer email="daisuke.nishimatsu@tier4.jp">Daisuke Nishimatsu</maintainer>
-  <license>Apache 2.0</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>cudnn_cmake_module</buildtool_depend>
-  <buildtool_depend>tensorrt_cmake_module</buildtool_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>autoware_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/cuda_utils.hpp b/perception/lidar_centerpoint/include/lidar_centerpoint/cuda_utils.hpp
index c1d84666f9a10..5ab26d75a0a41 100644
--- a/perception/lidar_centerpoint/include/lidar_centerpoint/cuda_utils.hpp
+++ b/perception/lidar_centerpoint/include/lidar_centerpoint/cuda_utils.hpp
@@ -56,10 +56,10 @@ namespace cuda
 inline void check_error(const ::cudaError_t e, const char * f, int n)
 {
   if (e != ::cudaSuccess) {
-    std::stringstream s;
+    ::std::stringstream s;
     s << ::cudaGetErrorName(e) << " (" << e << ")@" << f << "#L" << n << ": "
       << ::cudaGetErrorString(e);
-    throw std::runtime_error{s.str()};
+    throw ::std::runtime_error{s.str()};
   }
 }
 
@@ -69,13 +69,13 @@ struct deleter
 };
 
 template <typename T>
-using unique_ptr = std::unique_ptr<T, deleter>;
+using unique_ptr = ::std::unique_ptr<T, deleter>;
 
 template <typename T>
-typename std::enable_if<std::is_array<T>::value, cuda::unique_ptr<T>>::type make_unique(
-  const std::size_t n)
+typename ::std::enable_if<::std::is_array<T>::value, cuda::unique_ptr<T>>::type make_unique(
+  const ::std::size_t n)
 {
-  using U = typename std::remove_extent<T>::type;
+  using U = typename ::std::remove_extent<T>::type;
   U * p;
   CHECK_CUDA_ERROR(::cudaMalloc(reinterpret_cast<void **>(&p), sizeof(U) * n));
   return cuda::unique_ptr<T>{p};
@@ -107,7 +107,7 @@ inline T * get_next_ptr(size_t num_elem, void *& workspace, size_t & workspace_s
 {
   size_t size = get_size_aligned<T>(num_elem);
   if (size > workspace_size) {
-    throw std::runtime_error("Workspace is too small!");
+    throw ::std::runtime_error("Workspace is too small!");
   }
   workspace_size -= size;
   T * ptr = reinterpret_cast<T *>(workspace);
diff --git a/perception/tensorrt_yolo/lib/include/cuda_utils.hpp b/perception/tensorrt_yolo/lib/include/cuda_utils.hpp
index a3b53a73720a1..8a8a21d99e2cb 100644
--- a/perception/tensorrt_yolo/lib/include/cuda_utils.hpp
+++ b/perception/tensorrt_yolo/lib/include/cuda_utils.hpp
@@ -57,10 +57,10 @@ namespace cuda
 void check_error(const ::cudaError_t e, const char * f, int n)
 {
   if (e != ::cudaSuccess) {
-    std::stringstream s;
+    ::std::stringstream s;
     s << ::cudaGetErrorName(e) << " (" << e << ")@" << f << "#L" << n << ": "
       << ::cudaGetErrorString(e);
-    throw std::runtime_error{s.str()};
+    throw ::std::runtime_error{s.str()};
   }
 }
 
@@ -69,13 +69,13 @@ struct deleter
   void operator()(void * p) const { CHECK_CUDA_ERROR(::cudaFree(p)); }
 };
 template <typename T>
-using unique_ptr = std::unique_ptr<T, deleter>;
+using unique_ptr = ::std::unique_ptr<T, deleter>;
 
 template <typename T>
-typename std::enable_if<std::is_array<T>::value, cuda::unique_ptr<T>>::type make_unique(
-  const std::size_t n)
+typename ::std::enable_if<::std::is_array<T>::value, cuda::unique_ptr<T>>::type make_unique(
+  const ::std::size_t n)
 {
-  using U = typename std::remove_extent<T>::type;
+  using U = typename ::std::remove_extent<T>::type;
   U * p;
   CHECK_CUDA_ERROR(::cudaMalloc(reinterpret_cast<void **>(&p), sizeof(U) * n));
   return cuda::unique_ptr<T>{p};
@@ -107,7 +107,7 @@ inline T * get_next_ptr(size_t num_elem, void *& workspace, size_t & workspace_s
 {
   size_t size = get_size_aligned<T>(num_elem);
   if (size > workspace_size) {
-    throw std::runtime_error("Workspace is too small!");
+    throw ::std::runtime_error("Workspace is too small!");
   }
   workspace_size -= size;
   T * ptr = reinterpret_cast<T *>(workspace);