diff --git a/.gitignore b/.gitignore
index 9886e1ed..34187790 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,5 @@
 *.py[cod]
+
+# Visual Studio Code
+.vscode/
+*.code-workspace
diff --git a/common/tier4_control_rviz_plugin/package.xml b/common/tier4_control_rviz_plugin/package.xml
index b6396858..a55a3602 100644
--- a/common/tier4_control_rviz_plugin/package.xml
+++ b/common/tier4_control_rviz_plugin/package.xml
@@ -5,6 +5,7 @@
   <version>0.1.0</version>
   <description>The tier4_vehicle_rviz_plugin package</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
+  <maintainer email="akiro.harada@tier4.jp">Akiro Harada</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
diff --git a/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp b/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp
index 7fd700b2..a3f3413e 100644
--- a/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp
+++ b/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp
@@ -102,6 +102,13 @@ ManualController::ManualController(QWidget * parent) : rviz_common::Panel(parent
 void ManualController::update()
 {
   if (!raw_node_) return;
+
+  const auto velocity = sub_velocity_->takeData();
+  const double current_velocity = velocity ? velocity->longitudinal_velocity : 0.0;
+
+  const auto accel = sub_accel_->takeData();
+  const double current_acceleration = accel ? accel->accel.accel.linear.x : 0.0;
+
   Control control_cmd;
   {
     control_cmd.stamp = raw_node_->get_clock()->now();
@@ -114,18 +121,18 @@ void ManualController::update()
      *  a_des = k_const *(v - v_des) + a (k < 0 )
      */
     const double k = -0.5;
-    const double v = current_velocity_;
+    const double v = current_velocity;
     const double v_des = cruise_velocity_;
-    const double a = current_acceleration_;
+    const double a = current_acceleration;
     const double a_des = k * (v - v_des) + a;
     control_cmd.longitudinal.acceleration = std::clamp(a_des, -1.0, 1.0);
   }
   GearCommand gear_cmd;
   {
     const double eps = 0.001;
-    if (control_cmd.longitudinal.velocity > eps && current_velocity_ > -eps) {
+    if (control_cmd.longitudinal.velocity > eps && current_velocity > -eps) {
       gear_cmd.command = GearCommand::DRIVE;
-    } else if (control_cmd.longitudinal.velocity < -eps && current_velocity_ < eps) {
+    } else if (control_cmd.longitudinal.velocity < -eps && current_velocity < eps) {
       gear_cmd.command = GearCommand::REVERSE;
       control_cmd.longitudinal.acceleration *= -1.0;
     } else {
@@ -157,8 +164,12 @@ void ManualController::onInitialize()
   sub_gate_mode_ = raw_node_->create_subscription<GateMode>(
     "/control/current_gate_mode", 10, std::bind(&ManualController::onGateMode, this, _1));
 
-  sub_velocity_ = raw_node_->create_subscription<VelocityReport>(
-    "/vehicle/status/velocity_status", 1, std::bind(&ManualController::onVelocity, this, _1));
+  sub_velocity_ =
+    autoware::universe_utils::InterProcessPollingSubscriber<VelocityReport>::create_subscription(
+      raw_node_.get(), "/vehicle/status/velocity_status", 1);
+
+  sub_accel_ = autoware::universe_utils::InterProcessPollingSubscriber<AccelWithCovarianceStamped>::
+    create_subscription(raw_node_.get(), "/localization/acceleration", 1);
 
   sub_engage_ = raw_node_->create_subscription<Engage>(
     "/api/autoware/get/engage", 10, std::bind(&ManualController::onEngageStatus, this, _1));
@@ -207,16 +218,6 @@ void ManualController::onEngageStatus(const Engage::ConstSharedPtr msg)
   }
 }
 
-void ManualController::onVelocity(const VelocityReport::ConstSharedPtr msg)
-{
-  current_velocity_ = msg->longitudinal_velocity;
-}
-
-void ManualController::onAcceleration(const AccelWithCovarianceStamped::ConstSharedPtr msg)
-{
-  current_acceleration_ = msg->accel.accel.linear.x;
-}
-
 void ManualController::onGear(const GearReport::ConstSharedPtr msg)
 {
   switch (msg->report) {
diff --git a/common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp b/common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp
index 61b4f2a0..74806354 100644
--- a/common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp
+++ b/common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp
@@ -21,6 +21,7 @@
 #include <QLabel>
 #include <QPushButton>
 #include <QSpinBox>
+#include <autoware/universe_utils/ros/polling_subscriber.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rviz_common/panel.hpp>
 
@@ -68,13 +69,13 @@ public Q_SLOTS:  // NOLINT for Qt
   void onTimer();
   void onPublishControlCommand();
   void onGateMode(const GateMode::ConstSharedPtr msg);
-  void onVelocity(const VelocityReport::ConstSharedPtr msg);
-  void onAcceleration(const AccelWithCovarianceStamped::ConstSharedPtr msg);
   void onEngageStatus(const Engage::ConstSharedPtr msg);
   void onGear(const GearReport::ConstSharedPtr msg);
   rclcpp::Node::SharedPtr raw_node_;
   rclcpp::Subscription<GateMode>::SharedPtr sub_gate_mode_;
-  rclcpp::Subscription<VelocityReport>::SharedPtr sub_velocity_;
+  autoware::universe_utils::InterProcessPollingSubscriber<VelocityReport>::SharedPtr sub_velocity_;
+  autoware::universe_utils::InterProcessPollingSubscriber<AccelWithCovarianceStamped>::SharedPtr
+    sub_accel_;
   rclcpp::Subscription<Engage>::SharedPtr sub_engage_;
   rclcpp::Publisher<tier4_control_msgs::msg::GateMode>::SharedPtr pub_gate_mode_;
   rclcpp::Publisher<Control>::SharedPtr pub_control_command_;
@@ -84,8 +85,6 @@ public Q_SLOTS:  // NOLINT for Qt
 
   double cruise_velocity_{0.0};
   double steering_angle_{0.0};
-  double current_velocity_{0.0};
-  double current_acceleration_{0.0};
 
   QLabel * gate_mode_label_ptr_;
   QLabel * gear_label_ptr_;