diff --git a/common/tier4_debug_rviz_plugin/README.md b/common/tier4_debug_rviz_plugin/README.md
index 91898161..df23bdb1 100644
--- a/common/tier4_debug_rviz_plugin/README.md
+++ b/common/tier4_debug_rviz_plugin/README.md
@@ -7,6 +7,6 @@ Note that jsk_overlay_utils.cpp and jsk_overlay_utils.hpp are BSD license.
 
 ### Float32MultiArrayStampedPieChart
 
-Pie chart from `tier4_debug_msgs::msg::Float32MultiArrayStamped`.
+Pie chart from `autoware_internal_debug_msgs::msg::Float32MultiArrayStamped`.
 
 ![float32_multi_array_stamped_pie_chart](./images/float32_multi_array_stamped_pie_chart.png)
diff --git a/common/tier4_debug_rviz_plugin/include/tier4_debug_rviz_plugin/float32_multi_array_stamped_pie_chart.hpp b/common/tier4_debug_rviz_plugin/include/tier4_debug_rviz_plugin/float32_multi_array_stamped_pie_chart.hpp
index c8267c70..a5013dec 100644
--- a/common/tier4_debug_rviz_plugin/include/tier4_debug_rviz_plugin/float32_multi_array_stamped_pie_chart.hpp
+++ b/common/tier4_debug_rviz_plugin/include/tier4_debug_rviz_plugin/float32_multi_array_stamped_pie_chart.hpp
@@ -60,7 +60,7 @@
 #include <rviz_common/validate_floats.hpp>
 #include <tier4_debug_rviz_plugin/jsk_overlay_utils.hpp>
 
-#include <tier4_debug_msgs/msg/float32_multi_array_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp>
 
 #include <mutex>
 
@@ -87,7 +87,7 @@ class Float32MultiArrayStampedPieChartDisplay : public rviz_common::Display
   virtual void onDisable();
   virtual void onInitialize();
   virtual void processMessage(
-    const tier4_debug_msgs::msg::Float32MultiArrayStamped::ConstSharedPtr msg);
+    const autoware_internal_debug_msgs::msg::Float32MultiArrayStamped::ConstSharedPtr msg);
   virtual void drawPlot(double val);
   virtual void update(float wall_dt, float ros_dt);
   // properties
@@ -114,7 +114,7 @@ class Float32MultiArrayStampedPieChartDisplay : public rviz_common::Display
   rviz_common::properties::FloatProperty * med_color_threshold_property_;
   rviz_common::properties::BoolProperty * clockwise_rotate_property_;
 
-  rclcpp::Subscription<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr sub_;
+  rclcpp::Subscription<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr sub_;
   int left_;
   int top_;
   uint16_t texture_size_;
diff --git a/common/tier4_debug_rviz_plugin/package.xml b/common/tier4_debug_rviz_plugin/package.xml
index 7e15e1a3..bb1bf348 100644
--- a/common/tier4_debug_rviz_plugin/package.xml
+++ b/common/tier4_debug_rviz_plugin/package.xml
@@ -19,7 +19,7 @@
   <depend>rviz_common</depend>
   <depend>rviz_default_plugins</depend>
   <depend>rviz_rendering</depend>
-  <depend>tier4_debug_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/common/tier4_debug_rviz_plugin/plugins/plugin_description.xml b/common/tier4_debug_rviz_plugin/plugins/plugin_description.xml
index 72864327..57205a43 100644
--- a/common/tier4_debug_rviz_plugin/plugins/plugin_description.xml
+++ b/common/tier4_debug_rviz_plugin/plugins/plugin_description.xml
@@ -2,7 +2,7 @@
   <class name="rviz_plugins/Float32MultiArrayStampedPieChart"
     type="rviz_plugins::Float32MultiArrayStampedPieChartDisplay"
     base_class_type="rviz_common::Display">
-    <description>Display drivable area of tier4_debug_msgs::msg::Float32MultiArrayStamped</description>
+    <description>Display drivable area of autoware_internal_debug_msgs::msg::Float32MultiArrayStamped</description>
   </class>
   <class name="rviz_plugins/StringStampedOverlayDisplay"
     type="rviz_plugins::StringStampedOverlayDisplay"
diff --git a/common/tier4_debug_rviz_plugin/src/float32_multi_array_stamped_pie_chart.cpp b/common/tier4_debug_rviz_plugin/src/float32_multi_array_stamped_pie_chart.cpp
index 460a00a6..b7dc95c7 100644
--- a/common/tier4_debug_rviz_plugin/src/float32_multi_array_stamped_pie_chart.cpp
+++ b/common/tier4_debug_rviz_plugin/src/float32_multi_array_stamped_pie_chart.cpp
@@ -60,7 +60,7 @@ Float32MultiArrayStampedPieChartDisplay::Float32MultiArrayStampedPieChartDisplay
 : rviz_common::Display(), update_required_(false), first_time_(true), data_(0.0)
 {
   update_topic_property_ = new rviz_common::properties::StringProperty(
-    "Topic", "", "tier4_debug_msgs::msg::Float32MultiArrayStamped topic to subscribe to.", this,
+    "Topic", "", "autoware_internal_debug_msgs::msg::Float32MultiArrayStamped topic to subscribe to.", this,
     SLOT(updateTopic()), this);
   data_index_property_ = new rviz_common::properties::IntProperty(
     "data index", 0, "data index in message to visualize", this, SLOT(updateDataIndex()));
@@ -178,7 +178,7 @@ void Float32MultiArrayStampedPieChartDisplay::update(
 }
 
 void Float32MultiArrayStampedPieChartDisplay::processMessage(
-  const tier4_debug_msgs::msg::Float32MultiArrayStamped::ConstSharedPtr msg)
+  const autoware_internal_debug_msgs::msg::Float32MultiArrayStamped::ConstSharedPtr msg)
 {
   std::lock_guard<std::mutex> lock(mutex_);
 
@@ -297,7 +297,7 @@ void Float32MultiArrayStampedPieChartDisplay::subscribe()
 
   if (topic_name.length() > 0 && topic_name != "/") {
     rclcpp::Node::SharedPtr raw_node = context_->getRosNodeAbstraction().lock()->get_raw_node();
-    sub_ = raw_node->create_subscription<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
+    sub_ = raw_node->create_subscription<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
       topic_name, 1,
       std::bind(
         &Float32MultiArrayStampedPieChartDisplay::processMessage, this, std::placeholders::_1));