diff --git a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
index 3be8678113728..21143aa0cb28a 100644
--- a/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
+++ b/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
@@ -171,7 +171,7 @@
     <node pkg="topic_tools" exec="relay" name="fusion_signals_relay" output="screen">
       <param name="input_topic" value="$(var judged/traffic_signals)"/>
       <param name="output_topic" value="$(var output/traffic_signals)"/>
-      <param name="type" value="autoware_auto_perception_msgs/msg/TrafficSignalArray"/>
+      <param name="type" value="autoware_perception_msgs/msg/TrafficLightGroupArray"/>
     </node>
   </group>
 
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
index 24006e7df580e..0612f67de4c2b 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
@@ -50,7 +50,7 @@
           <!-- params -->
           <param name="input_topic" value="$(var interface_input_topic)"/>
           <param name="output_topic" value="path_smoother/path"/>
-          <param name="type" value="autoware_auto_planning_msgs/msg/Trajectory"/>
+          <param name="type" value="autoware_planning_msgs/msg/Trajectory"/>
           <!-- composable node config -->
           <extra_arg name="use_intra_process_comms" value="false"/>
         </composable_node>
@@ -221,7 +221,7 @@
           <!-- params -->
           <param name="input_topic" value="obstacle_velocity_limiter/trajectory"/>
           <param name="output_topic" value="$(var interface_output_topic)"/>
-          <param name="type" value="autoware_auto_planning_msgs/msg/Trajectory"/>
+          <param name="type" value="autoware_planning_msgs/msg/Trajectory"/>
           <!-- composable node config -->
           <extra_arg name="use_intra_process_comms" value="false"/>
         </composable_node>