diff --git a/common/tier4_perception_rviz_plugin/README.md b/common/tier4_perception_rviz_plugin/README.md
index 7ce9ba5114ef9..17536921a54f5 100644
--- a/common/tier4_perception_rviz_plugin/README.md
+++ b/common/tier4_perception_rviz_plugin/README.md
@@ -15,9 +15,9 @@ The DeleteAllObjectsTool deletes the dummy cars, pedestrians, and obstacles disp
 
 ### Output
 
-| Name                                                 | Type                                      | Description                                     |
-| ---------------------------------------------------- | ----------------------------------------- | ----------------------------------------------- |
-| `/simulation/dummy_perception_publisher/object_info` | `dummy_perception_publisher::msg::Object` | The topic on which to publish dummy object info |
+| Name                                                 | Type                                               | Description                                     |
+| ---------------------------------------------------- | -------------------------------------------------- | ----------------------------------------------- |
+| `/simulation/dummy_perception_publisher/object_info` | `autoware_dummy_perception_publisher::msg::Object` | The topic on which to publish dummy object info |
 
 ## Parameter
 
diff --git a/common/tier4_perception_rviz_plugin/src/tools/car_pose.hpp b/common/tier4_perception_rviz_plugin/src/tools/car_pose.hpp
index 4fc6aeb71771d..61263535ec087 100644
--- a/common/tier4_perception_rviz_plugin/src/tools/car_pose.hpp
+++ b/common/tier4_perception_rviz_plugin/src/tools/car_pose.hpp
@@ -55,7 +55,7 @@ namespace rviz_plugins
 
 using autoware_auto_perception_msgs::msg::ObjectClassification;
 using autoware_auto_perception_msgs::msg::Shape;
-using dummy_perception_publisher::msg::Object;
+using autoware_dummy_perception_publisher::msg::Object;
 
 class CarInitialPoseTool : public InteractiveObjectTool
 {
diff --git a/common/tier4_perception_rviz_plugin/src/tools/delete_all_objects.cpp b/common/tier4_perception_rviz_plugin/src/tools/delete_all_objects.cpp
index 40984facf4459..b5884229defdf 100644
--- a/common/tier4_perception_rviz_plugin/src/tools/delete_all_objects.cpp
+++ b/common/tier4_perception_rviz_plugin/src/tools/delete_all_objects.cpp
@@ -73,7 +73,7 @@ void DeleteAllObjectsTool::onInitialize()
 void DeleteAllObjectsTool::updateTopic()
 {
   rclcpp::Node::SharedPtr raw_node = context_->getRosNodeAbstraction().lock()->get_raw_node();
-  dummy_object_info_pub_ = raw_node->create_publisher<dummy_perception_publisher::msg::Object>(
+  dummy_object_info_pub_ = raw_node->create_publisher<autoware_dummy_perception_publisher::msg::Object>(
     topic_property_->getStdString(), 1);
   clock_ = raw_node->get_clock();
 }
@@ -81,7 +81,7 @@ void DeleteAllObjectsTool::updateTopic()
 void DeleteAllObjectsTool::onPoseSet(
   [[maybe_unused]] double x, [[maybe_unused]] double y, [[maybe_unused]] double theta)
 {
-  dummy_perception_publisher::msg::Object output_msg;
+  autoware_dummy_perception_publisher::msg::Object output_msg;
   std::string fixed_frame = context_->getFixedFrame().toStdString();
 
   // header
@@ -89,7 +89,7 @@ void DeleteAllObjectsTool::onPoseSet(
   output_msg.header.stamp = clock_->now();
 
   // action
-  output_msg.action = dummy_perception_publisher::msg::Object::DELETEALL;
+  output_msg.action = autoware_dummy_perception_publisher::msg::Object::DELETEALL;
 
   dummy_object_info_pub_->publish(output_msg);
 }
diff --git a/common/tier4_perception_rviz_plugin/src/tools/delete_all_objects.hpp b/common/tier4_perception_rviz_plugin/src/tools/delete_all_objects.hpp
index 6bb1431d18678..f7ed64d6071fc 100644
--- a/common/tier4_perception_rviz_plugin/src/tools/delete_all_objects.hpp
+++ b/common/tier4_perception_rviz_plugin/src/tools/delete_all_objects.hpp
@@ -77,7 +77,7 @@ private Q_SLOTS:
 
 private:  // NOLINT for Qt
   rclcpp::Clock::SharedPtr clock_;
-  rclcpp::Publisher<dummy_perception_publisher::msg::Object>::SharedPtr dummy_object_info_pub_;
+  rclcpp::Publisher<autoware_dummy_perception_publisher::msg::Object>::SharedPtr dummy_object_info_pub_;
 
   rviz_common::properties::StringProperty * topic_property_;
 };
diff --git a/common/tier4_perception_rviz_plugin/src/tools/interactive_object.hpp b/common/tier4_perception_rviz_plugin/src/tools/interactive_object.hpp
index 2b96251cd3b7c..98e6273c672ee 100644
--- a/common/tier4_perception_rviz_plugin/src/tools/interactive_object.hpp
+++ b/common/tier4_perception_rviz_plugin/src/tools/interactive_object.hpp
@@ -84,7 +84,7 @@ namespace rviz_plugins
 
 using autoware_auto_perception_msgs::msg::ObjectClassification;
 using autoware_auto_perception_msgs::msg::Shape;
-using dummy_perception_publisher::msg::Object;
+using autoware_dummy_perception_publisher::msg::Object;
 
 class InteractiveObject
 {
diff --git a/common/tier4_perception_rviz_plugin/src/tools/pedestrian_pose.hpp b/common/tier4_perception_rviz_plugin/src/tools/pedestrian_pose.hpp
index 195ec8e2a3a6d..41372699506fe 100644
--- a/common/tier4_perception_rviz_plugin/src/tools/pedestrian_pose.hpp
+++ b/common/tier4_perception_rviz_plugin/src/tools/pedestrian_pose.hpp
@@ -55,7 +55,7 @@ namespace rviz_plugins
 
 using autoware_auto_perception_msgs::msg::ObjectClassification;
 using autoware_auto_perception_msgs::msg::Shape;
-using dummy_perception_publisher::msg::Object;
+using autoware_dummy_perception_publisher::msg::Object;
 
 class PedestrianInitialPoseTool : public InteractiveObjectTool
 {
diff --git a/common/tier4_perception_rviz_plugin/src/tools/unknown_pose.hpp b/common/tier4_perception_rviz_plugin/src/tools/unknown_pose.hpp
index 2bc3129b51321..844956546cab8 100644
--- a/common/tier4_perception_rviz_plugin/src/tools/unknown_pose.hpp
+++ b/common/tier4_perception_rviz_plugin/src/tools/unknown_pose.hpp
@@ -50,7 +50,7 @@ namespace rviz_plugins
 
 using autoware_auto_perception_msgs::msg::ObjectClassification;
 using autoware_auto_perception_msgs::msg::Shape;
-using dummy_perception_publisher::msg::Object;
+using autoware_dummy_perception_publisher::msg::Object;
 
 class UnknownInitialPoseTool : public InteractiveObjectTool
 {