diff --git a/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp b/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp
index f4911cc428d36..55a032fc8bb5a 100644
--- a/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp
+++ b/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp
@@ -52,29 +52,6 @@
 
 namespace object_map
 {
-/*!
- * Publishes in_gridmap using the specified in_publisher
- * @param[in] in_gridmap GridMap object to publish
- * @param[in] in_publisher Valid Publisher object to use
- */
-void PublishGridMap(
-  const grid_map::GridMap & in_gridmap,
-  const rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr in_publisher);
-
-/*!
- * Convert and publishes a GridMap layer to a standard Ros OccupancyGrid
- * @param[in] in_gridmap GridMap object to extract the layer
- * @param[in] in_publisher ROS Publisher to use to publish the occupancy grid
- * @param[in] in_layer Name of the layer to convert
- * @param[in] in_min_value Minimum value in the layer
- * @param[in] in_max_value Maximum value in the layer
- */
-
-void PublishOccupancyGrid(
-  const grid_map::GridMap & in_gridmap,
-  const rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr in_publisher,
-  const std::string & in_layer, double in_min_value, double in_max_value, double in_height);
-
 /*!
  * Projects the in_area_points forming the road, stores the result in out_grid_map.
  * @param[out] out_grid_map GridMap object to add the road grid
diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp
index 4ce452814008c..f719f7a81cbf2 100644
--- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp
+++ b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp
@@ -37,25 +37,6 @@
 
 namespace object_map
 {
-void PublishGridMap(
-  const grid_map::GridMap & in_gridmap,
-  const rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr in_publisher)
-{
-  auto message = grid_map::GridMapRosConverter::toMessage(in_gridmap);
-  in_publisher->publish(*message);
-}
-
-void PublishOccupancyGrid(
-  const grid_map::GridMap & in_gridmap,
-  const rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr in_publisher,
-  const std::string & in_layer, double in_min_value, double in_max_value, double in_height)
-{
-  nav_msgs::msg::OccupancyGrid message;
-  grid_map::GridMapRosConverter::toOccupancyGrid(
-    in_gridmap, in_layer, in_min_value, in_max_value, message);
-  message.info.origin.position.z = in_height;
-  in_publisher->publish(message);
-}
 
 void FillPolygonAreas(
   grid_map::GridMap & out_grid_map,