diff --git a/perception/autoware_crosswalk_traffic_light_estimator/README.md b/perception/autoware_crosswalk_traffic_light_estimator/README.md
index 1b24b115f5812..068b588adfc62 100644
--- a/perception/autoware_crosswalk_traffic_light_estimator/README.md
+++ b/perception/autoware_crosswalk_traffic_light_estimator/README.md
@@ -21,9 +21,10 @@ This module works without `~/input/route`, but its behavior is outputting the su
 
 ### Output
 
-| Name                       | Type                                                  | Description                                               |
-| -------------------------- | ----------------------------------------------------- | --------------------------------------------------------- |
-| `~/output/traffic_signals` | autoware_perception_msgs::msg::TrafficLightGroupArray | output that contains estimated pedestrian traffic signals |
+| Name                         | Type                                                  | Description                                               |
+| ---------------------------- | ----------------------------------------------------- | --------------------------------------------------------- |
+| `~/output/traffic_signals`   | autoware_perception_msgs::msg::TrafficLightGroupArray | output that contains estimated pedestrian traffic signals |
+| `~/debug/processing_time_ms` | autoware_internal_debug_msgs::msg::Float64Stamped     | pipeline latency time (ms)                                |
 
 ## Parameters
 
diff --git a/perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp b/perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp
index 085e423db38ba..e41ede2f574ed 100644
--- a/perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp
+++ b/perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp
@@ -19,10 +19,10 @@
 #include <autoware/universe_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_perception_msgs/msg/traffic_light_group_array.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
 
 #include <lanelet2_core/Attribute.h>
 #include <lanelet2_core/LaneletMap.h>
@@ -41,9 +41,9 @@ namespace autoware::crosswalk_traffic_light_estimator
 
 using autoware::universe_utils::DebugPublisher;
 using autoware::universe_utils::StopWatch;
+using autoware_internal_debug_msgs::msg::Float64Stamped;
 using autoware_map_msgs::msg::LaneletMapBin;
 using autoware_planning_msgs::msg::LaneletRoute;
-using tier4_debug_msgs::msg::Float64Stamped;
 using TrafficSignal = autoware_perception_msgs::msg::TrafficLightGroup;
 using TrafficSignalArray = autoware_perception_msgs::msg::TrafficLightGroupArray;
 using TrafficSignalElement = autoware_perception_msgs::msg::TrafficLightElement;
diff --git a/perception/autoware_crosswalk_traffic_light_estimator/package.xml b/perception/autoware_crosswalk_traffic_light_estimator/package.xml
index a760c3bd950e3..c96ad1e2135c1 100644
--- a/perception/autoware_crosswalk_traffic_light_estimator/package.xml
+++ b/perception/autoware_crosswalk_traffic_light_estimator/package.xml
@@ -13,6 +13,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>