diff --git a/autoware_v2x_msgs/CMakeLists.txt b/autoware_v2x_msgs/CMakeLists.txt
index 4047aa6..ef156d0 100644
--- a/autoware_v2x_msgs/CMakeLists.txt
+++ b/autoware_v2x_msgs/CMakeLists.txt
@@ -9,7 +9,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/VirtualGateAreaStatus.msg"
   "msg/VirtualGateCommand.msg"
   "msg/VirtualGateStatus.msg"
-  "msg/VirtualGateVehicleInfo.msg"
   DEPENDENCIES
     builtin_interfaces
     geometry_msgs
diff --git a/autoware_v2x_msgs/msg/VirtualGateCommand.msg b/autoware_v2x_msgs/msg/VirtualGateCommand.msg
index dce548a..e497847 100644
--- a/autoware_v2x_msgs/msg/VirtualGateCommand.msg
+++ b/autoware_v2x_msgs/msg/VirtualGateCommand.msg
@@ -1,3 +1,2 @@
 builtin_interfaces/Time stamp
 autoware_v2x_msgs/VirtualGateAreaCommand[] areas
-autoware_v2x_msgs/VirtualGateVehicleInfo vehicle
diff --git a/autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg b/autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg
deleted file mode 100644
index f1f2806..0000000
--- a/autoware_v2x_msgs/msg/VirtualGateVehicleInfo.msg
+++ /dev/null
@@ -1 +0,0 @@
-geometry_msgs/PoseStamped[<=1] pose