diff --git a/localization/yabloc/yabloc_common/package.xml b/localization/yabloc/yabloc_common/package.xml
index de675da5cc2d4..d4c8b71fa6b66 100644
--- a/localization/yabloc/yabloc_common/package.xml
+++ b/localization/yabloc/yabloc_common/package.xml
@@ -29,6 +29,7 @@
   <depend>sophus</depend>
   <depend>std_msgs</depend>
   <depend>tf2_ros</depend>
+  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp b/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp
index d0dfc87067f7f..1126d6260b911 100644
--- a/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp
+++ b/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp
@@ -15,7 +15,7 @@
 #include "yabloc_common/ll2_decomposer/ll2_decomposer.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
-#include <yabloc_common/color.hpp>
+#include <tier4_autoware_utils/ros/marker_helper.hpp>
 #include <yabloc_common/pub_sub.hpp>
 
 #include <geometry_msgs/msg/polygon.hpp>
@@ -198,7 +198,7 @@ Ll2Decomposer::MarkerArray Ll2Decomposer::make_sign_marker_msg(
     marker.header.frame_id = "map";
     marker.header.stamp = get_clock()->now();
     marker.type = Marker::LINE_STRIP;
-    marker.color = common::Color(0.6f, 0.6f, 0.6f, 0.999f);
+    marker.color = tier4_autoware_utils::createMarkerColor(0.6f, 0.6f, 0.6f, 0.999f);
     marker.scale.x = 0.1;
     marker.ns = ns;
     marker.id = id++;
@@ -228,7 +228,7 @@ Ll2Decomposer::MarkerArray Ll2Decomposer::make_polygon_marker_msg(
     marker.header.frame_id = "map";
     marker.header.stamp = get_clock()->now();
     marker.type = Marker::LINE_STRIP;
-    marker.color = common::Color(0.4f, 0.4f, 0.8f, 0.999f);
+    marker.color = tier4_autoware_utils::createMarkerColor(0.4f, 0.4f, 0.8f, 0.999f);
     marker.scale.x = 0.2;
     marker.ns = ns;
     marker.id = id++;
diff --git a/localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp b/localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp
index 90cd62883e339..e6e59a836f6db 100644
--- a/localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp
@@ -93,7 +93,8 @@ class ParticleVisualize : public rclcpp::Node
       marker.scale.y = 0.1;
       marker.scale.z = 0.1;
 
-      marker.color = common::color_scale::rainbow(bound_weight(p.weight));
+      marker.color =
+        static_cast<std_msgs::msg::ColorRGBA>(common::color_scale::rainbow(bound_weight(p.weight)));
       marker.pose.orientation = p.pose.orientation;
       marker.pose.position.x = p.pose.position.x;
       marker.pose.position.y = p.pose.position.y;
diff --git a/localization/yabloc/yabloc_particle_filter/src/common/visualize.cpp b/localization/yabloc/yabloc_particle_filter/src/common/visualize.cpp
index 955ed84fdea2d..888baf0bea0ac 100644
--- a/localization/yabloc/yabloc_particle_filter/src/common/visualize.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/common/visualize.cpp
@@ -45,7 +45,8 @@ void ParticleVisualizer::publish(const ParticleArray & msg)
     marker.scale.x = 0.3;
     marker.scale.y = 0.1;
     marker.scale.z = 0.1;
-    marker.color = common::color_scale::rainbow(boundWeight(p.weight));
+    marker.color =
+      static_cast<std_msgs::msg::ColorRGBA>(common::color_scale::rainbow(boundWeight(p.weight)));
     marker.pose.orientation = p.pose.orientation;
     marker.pose.position.x = p.pose.position.x;
     marker.pose.position.y = p.pose.position.y;
diff --git a/localization/yabloc/yabloc_particle_filter/src/gnss_corrector/gnss_corrector_core.cpp b/localization/yabloc/yabloc_particle_filter/src/gnss_corrector/gnss_corrector_core.cpp
index b321986240b69..e8c8890561a7f 100644
--- a/localization/yabloc/yabloc_particle_filter/src/gnss_corrector/gnss_corrector_core.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/gnss_corrector/gnss_corrector_core.cpp
@@ -136,7 +136,7 @@ void GnssParticleCorrector::publish_marker(const Eigen::Vector3f & position, boo
     marker.pose.position.z = latest_height_.data;
 
     float prob = i / 4.0f;
-    marker.color = common::color_scale::rainbow(prob);
+    marker.color = static_cast<std_msgs::msg::ColorRGBA>(common::color_scale::rainbow(prob));
     marker.color.a = 0.5f;
     marker.scale.x = 0.1;
     drawCircle(marker.points, weight_manager_.inverse_normal_pdf(prob, is_rtk_fixed));
diff --git a/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp b/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp
index ebd9c424edf5e..62d8ed826b373 100644
--- a/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp
@@ -18,7 +18,7 @@
 
 #include <opencv4/opencv2/highgui.hpp>
 #include <opencv4/opencv2/imgproc.hpp>
-#include <yabloc_common/color.hpp>
+#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <boost/geometry/geometry.hpp>
 
@@ -169,7 +169,7 @@ HierarchicalCostMap::MarkerArray HierarchicalCostMap::show_map_range() const
     marker.header.frame_id = "map";
     marker.id = id++;
     marker.type = Marker::LINE_STRIP;
-    marker.color = common::Color(0, 0, 1.0f, 1.0f);
+    marker.color = tier4_autoware_utils::createMarkerColor(0, 0, 1.0f, 1.0f);
     marker.scale.x = 0.1;
     Eigen::Vector2f xy = area.real_scale();
     marker.points.push_back(point_msg(xy.x(), xy.y()));
diff --git a/localization/yabloc/yabloc_pose_initializer/src/camera/marker_module.cpp b/localization/yabloc/yabloc_pose_initializer/src/camera/marker_module.cpp
index c6c34f0e28a42..8a5fc65e2fac3 100644
--- a/localization/yabloc/yabloc_pose_initializer/src/camera/marker_module.cpp
+++ b/localization/yabloc/yabloc_pose_initializer/src/camera/marker_module.cpp
@@ -42,7 +42,8 @@ void MarkerModule::publish_marker(
     marker.type = Marker::ARROW;
     marker.id = i;
     marker.ns = "arrow";
-    marker.color = common::color_scale::rainbow(normalize(scores.at(i)));
+    marker.color =
+      static_cast<std_msgs::msg::ColorRGBA>(common::color_scale::rainbow(normalize(scores.at(i))));
     marker.color.a = 0.5;
 
     marker.pose.position.x = position.x();