diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp
index 069363d2f65e0..fc0066b1a84f3 100644
--- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp
+++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp
@@ -39,12 +39,12 @@
 #include <autoware/universe_utils/ros/published_time_publisher.hpp>
 
 #include "autoware_adapi_v1_msgs/msg/operation_mode_state.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/float64_stamped.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
 #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
-#include "tier4_debug_msgs/msg/float32_stamped.hpp"         // temporary
-#include "tier4_debug_msgs/msg/float64_stamped.hpp"         // temporary
 #include "tier4_planning_msgs/msg/stop_speed_exceeded.hpp"  // temporary
 #include "tier4_planning_msgs/msg/velocity_limit.hpp"       // temporary
 #include "visualization_msgs/msg/marker_array.hpp"
@@ -62,12 +62,12 @@ using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
 using TrajectoryPoints = std::vector<TrajectoryPoint>;
 using autoware_adapi_v1_msgs::msg::OperationModeState;
+using autoware_internal_debug_msgs::msg::Float32Stamped;
+using autoware_internal_debug_msgs::msg::Float64Stamped;
 using geometry_msgs::msg::AccelWithCovarianceStamped;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::PoseStamped;
 using nav_msgs::msg::Odometry;
-using tier4_debug_msgs::msg::Float32Stamped;        // temporary
-using tier4_debug_msgs::msg::Float64Stamped;        // temporary
 using tier4_planning_msgs::msg::StopSpeedExceeded;  // temporary
 using tier4_planning_msgs::msg::VelocityLimit;      // temporary
 using visualization_msgs::msg::MarkerArray;
diff --git a/planning/autoware_velocity_smoother/package.xml b/planning/autoware_velocity_smoother/package.xml
index 96462602d8da0..3d1252ff0b7a6 100644
--- a/planning/autoware_velocity_smoother/package.xml
+++ b/planning/autoware_velocity_smoother/package.xml
@@ -21,6 +21,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_osqp_interface</depend>
@@ -34,7 +35,6 @@
   <depend>rclcpp</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
   <depend>tier4_planning_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>