diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/README.md b/localization/landmark_based_localizer/ar_tag_based_localizer/README.md
index 1a776bd810fff..37596ee9820b9 100644
--- a/localization/landmark_based_localizer/ar_tag_based_localizer/README.md
+++ b/localization/landmark_based_localizer/ar_tag_based_localizer/README.md
@@ -15,7 +15,7 @@ The positions and orientations of the AR-Tags are assumed to be written in the L
 
 | Name                   | Type                                            | Description                                                                                                                                                                                                                                                               |
 | :--------------------- | :---------------------------------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| `~/input/lanelet2_map` | `autoware_auto_mapping_msgs::msg::HADMapBin`    | Data of lanelet2                                                                                                                                                                                                                                                          |
+| `~/input/lanelet2_map` | `autoware_map_msgs::msg::LaneletMapBin`         | Data of lanelet2                                                                                                                                                                                                                                                          |
 | `~/input/image`        | `sensor_msgs::msg::Image`                       | Camera Image                                                                                                                                                                                                                                                              |
 | `~/input/camera_info`  | `sensor_msgs::msg::CameraInfo`                  | Camera Info                                                                                                                                                                                                                                                               |
 | `~/input/ekf_pose`     | `geometry_msgs::msg::PoseWithCovarianceStamped` | EKF Pose without IMU correction. It is used to validate detected AR tags by filtering out False Positives. Only if the EKF Pose and the AR tag-detected Pose are within a certain temporal and spatial range, the AR tag-detected Pose is considered valid and published. |
diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp
index 9a6823e330acd..0ea40690d9f4d 100644
--- a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp
+++ b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp
@@ -111,7 +111,7 @@ ArTagBasedLocalizer::ArTagBasedLocalizer(const rclcpp::NodeOptions & options)
     Subscribers
   */
   using std::placeholders::_1;
-  map_bin_sub_ = this->create_subscription<HADMapBin>(
+  map_bin_sub_ = this->create_subscription<LaneletMapBin>(
     "~/input/lanelet2_map", rclcpp::QoS(10).durability(rclcpp::DurabilityPolicy::TransientLocal),
     std::bind(&ArTagBasedLocalizer::map_bin_callback, this, _1));
 
@@ -140,7 +140,7 @@ ArTagBasedLocalizer::ArTagBasedLocalizer(const rclcpp::NodeOptions & options)
   RCLCPP_INFO(this->get_logger(), "Setup of ar_tag_based_localizer node is successful!");
 }
 
-void ArTagBasedLocalizer::map_bin_callback(const HADMapBin::ConstSharedPtr & msg)
+void ArTagBasedLocalizer::map_bin_callback(const LaneletMapBin::ConstSharedPtr & msg)
 {
   landmark_manager_.parse_landmarks(msg, "apriltag_16h5");
   const MarkerArray marker_msg = landmark_manager_.get_landmarks_as_marker_array_msg();
diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp
index f70821a39ffe8..f00621b3c520a 100644
--- a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp
+++ b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp
@@ -70,7 +70,7 @@
 
 class ArTagBasedLocalizer : public rclcpp::Node
 {
-  using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
+  using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin;
   using Image = sensor_msgs::msg::Image;
   using CameraInfo = sensor_msgs::msg::CameraInfo;
   using Pose = geometry_msgs::msg::Pose;
@@ -86,7 +86,7 @@ class ArTagBasedLocalizer : public rclcpp::Node
   explicit ArTagBasedLocalizer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
 private:
-  void map_bin_callback(const HADMapBin::ConstSharedPtr & msg);
+  void map_bin_callback(const LaneletMapBin::ConstSharedPtr & msg);
   void image_callback(const Image::ConstSharedPtr & msg);
   void cam_info_callback(const CameraInfo::ConstSharedPtr & msg);
   void ekf_pose_callback(const PoseWithCovarianceStamped::ConstSharedPtr & msg);
@@ -106,7 +106,7 @@ class ArTagBasedLocalizer : public rclcpp::Node
   std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
 
   // Subscribers
-  rclcpp::Subscription<HADMapBin>::SharedPtr map_bin_sub_;
+  rclcpp::Subscription<LaneletMapBin>::SharedPtr map_bin_sub_;
   rclcpp::Subscription<Image>::SharedPtr image_sub_;
   rclcpp::Subscription<CameraInfo>::SharedPtr cam_info_sub_;
   rclcpp::Subscription<PoseWithCovarianceStamped>::SharedPtr ekf_pose_sub_;
diff --git a/localization/landmark_based_localizer/landmark_manager/include/landmark_manager/landmark_manager.hpp b/localization/landmark_based_localizer/landmark_manager/include/landmark_manager/landmark_manager.hpp
index c2b0751d91f9a..7c1a3f656dd66 100644
--- a/localization/landmark_based_localizer/landmark_manager/include/landmark_manager/landmark_manager.hpp
+++ b/localization/landmark_based_localizer/landmark_manager/include/landmark_manager/landmark_manager.hpp
@@ -19,7 +19,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include "autoware_auto_mapping_msgs/msg/had_map_bin.hpp"
+#include "autoware_map_msgs/msg/lanelet_map_bin.hpp"
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
@@ -41,7 +41,7 @@ class LandmarkManager
 {
 public:
   void parse_landmarks(
-    const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr & msg,
+    const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr & msg,
     const std::string & target_subtype);
 
   [[nodiscard]] std::vector<landmark_manager::Landmark> get_landmarks() const;
diff --git a/localization/landmark_based_localizer/landmark_manager/package.xml b/localization/landmark_based_localizer/landmark_manager/package.xml
index be19de9334e84..4e080c0362c07 100644
--- a/localization/landmark_based_localizer/landmark_manager/package.xml
+++ b/localization/landmark_based_localizer/landmark_manager/package.xml
@@ -18,7 +18,7 @@
 
   <build_depend>eigen</build_depend>
 
-  <depend>autoware_auto_mapping_msgs</depend>
+  <depend>autoware_map_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>localization_util</depend>
diff --git a/localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp b/localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp
index e977dbf6cf74a..a808a6428f682 100644
--- a/localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp
+++ b/localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp
@@ -28,7 +28,7 @@ namespace landmark_manager
 {
 
 void LandmarkManager::parse_landmarks(
-  const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr & msg,
+  const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr & msg,
   const std::string & target_subtype)
 {
   std::vector<lanelet::Polygon3d> landmarks =
diff --git a/localization/pose_estimator_arbiter/README.md b/localization/pose_estimator_arbiter/README.md
index 7e1ad2b9ec6eb..a28da699ad926 100644
--- a/localization/pose_estimator_arbiter/README.md
+++ b/localization/pose_estimator_arbiter/README.md
@@ -93,7 +93,7 @@ For switching rule:
 
 | Name                          | Type                                                         | Description                       |
 | ----------------------------- | ------------------------------------------------------------ | --------------------------------- |
-| `/input/vector_map`           | autoware_auto_mapping_msgs::msg::HADMapBin                   | vector map                        |
+| `/input/vector_map`           | autoware_map_msgs::msg::LaneletMapBin                        | vector map                        |
 | `/input/pose_with_covariance` | geometry_msgs::msg::PoseWithCovarianceStamped                | localization final output         |
 | `/input/initialization_state` | autoware_adapi_v1_msgs::msg::LocalizationInitializationState | localization initialization state |
 
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp
index d6901f9be2dbf..392219b2281e1 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp
+++ b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp
@@ -18,7 +18,7 @@
 #include <rclcpp/logger.hpp>
 #include <rclcpp/node.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <geometry_msgs/msg/point.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
@@ -29,7 +29,7 @@ namespace pose_estimator_arbiter::rule_helper
 {
 class PoseEstimatorArea
 {
-  using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
+  using HADMapBin = autoware_map_msgs::msg::LaneletMapBin;
   using Marker = visualization_msgs::msg::Marker;
   using MarkerArray = visualization_msgs::msg::MarkerArray;
 
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.cpp b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.cpp
index 094434c62ac9c..675842662acf8 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.cpp
+++ b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.cpp
@@ -27,7 +27,7 @@ VectorMapBasedRule::VectorMapBasedRule(
 
   // Register callback
   shared_data_->vector_map.register_callback(
-    [this](autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr msg) -> void {
+    [this](autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg) -> void {
       pose_estimator_area_->init(msg);
     });
 
diff --git a/localization/pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp b/localization/pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp
index 35ed8b04bfcad..beda4d720b7f6 100644
--- a/localization/pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp
+++ b/localization/pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp
@@ -18,7 +18,7 @@
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 
 #include <boost/geometry/geometry.hpp>
 
@@ -59,7 +59,7 @@ TEST_F(MockNode, poseEstimatorArea)
   lanelet::LaneletMapPtr lanelet_map(new lanelet::LaneletMap);
   lanelet_map->add(create_polygon3d());
 
-  using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
+  using HADMapBin = autoware_map_msgs::msg::LaneletMapBin;
   using Point = geometry_msgs::msg::Point;
   HADMapBin msg;
   lanelet::utils::conversion::toBinMsg(lanelet_map, &msg);
diff --git a/localization/pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp b/localization/pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp
index a0a983e2ad3b7..66d867883272b 100644
--- a/localization/pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp
+++ b/localization/pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp
@@ -16,7 +16,7 @@
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 
 #include <gtest/gtest.h>
 #include <lanelet2_core/LaneletMap.h>
@@ -71,7 +71,7 @@ TEST_F(MockNode, vectorMapBasedRule)
     lanelet::LaneletMapPtr lanelet_map(new lanelet::LaneletMap);
     lanelet_map->add(create_polygon3d());
 
-    using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
+    using HADMapBin = autoware_map_msgs::msg::LaneletMapBin;
     HADMapBin msg;
     lanelet::utils::conversion::toBinMsg(lanelet_map, &msg);
 
diff --git a/localization/pose_estimator_arbiter/package.xml b/localization/pose_estimator_arbiter/package.xml
index d164086ada87e..70896d93d9cb8 100644
--- a/localization/pose_estimator_arbiter/package.xml
+++ b/localization/pose_estimator_arbiter/package.xml
@@ -12,7 +12,7 @@
   <build_depend>autoware_cmake</build_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
-  <depend>autoware_auto_mapping_msgs</depend>
+  <depend>autoware_map_msgs</depend>
   <depend>diagnostic_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp
index 54dac6ac254c1..fda77ec877482 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp
+++ b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp
@@ -42,7 +42,7 @@ class PoseEstimatorArbiter : public rclcpp::Node
   using Image = sensor_msgs::msg::Image;
   using PointCloud2 = sensor_msgs::msg::PointCloud2;
   using PoseCovStamped = geometry_msgs::msg::PoseWithCovarianceStamped;
-  using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
+  using HADMapBin = autoware_map_msgs::msg::LaneletMapBin;
   using InitializationState = autoware_adapi_v1_msgs::msg::LocalizationInitializationState;
   using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray;
 
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/shared_data.hpp b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/shared_data.hpp
index b9c3bd45c9e24..a72dc5585877b 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/shared_data.hpp
+++ b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/shared_data.hpp
@@ -16,7 +16,7 @@
 #define POSE_ESTIMATOR_ARBITER__SHARED_DATA_HPP_
 
 #include <autoware_adapi_v1_msgs/msg/localization_initialization_state.hpp>
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <sensor_msgs/msg/image.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -77,7 +77,7 @@ struct SharedData
   using Image = sensor_msgs::msg::Image;
   using PoseCovStamped = geometry_msgs::msg::PoseWithCovarianceStamped;
   using PointCloud2 = sensor_msgs::msg::PointCloud2;
-  using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
+  using HADMapBin = autoware_map_msgs::msg::LaneletMapBin;
   using InitializationState = autoware_adapi_v1_msgs::msg::LocalizationInitializationState;
 
   SharedData() {}
diff --git a/localization/yabloc/yabloc_common/README.md b/localization/yabloc/yabloc_common/README.md
index 6368305bdbfad..cb1799ce21e61 100644
--- a/localization/yabloc/yabloc_common/README.md
+++ b/localization/yabloc/yabloc_common/README.md
@@ -15,10 +15,10 @@ It estimates the height and tilt of the ground from lanelet2.
 
 #### Input
 
-| Name               | Type                                         | Description         |
-| ------------------ | -------------------------------------------- | ------------------- |
-| `input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map          |
-| `input/pose`       | `geometry_msgs::msg::PoseStamped`            | estimated self pose |
+| Name               | Type                                    | Description         |
+| ------------------ | --------------------------------------- | ------------------- |
+| `input/vector_map` | `autoware_map_msgs::msg::LaneletMapBin` | vector map          |
+| `input/pose`       | `geometry_msgs::msg::PoseStamped`       | estimated self pose |
 
 #### Output
 
@@ -44,9 +44,9 @@ This node extracts the elements related to the road surface markings and yabloc
 
 #### Input
 
-| Name               | Type                                         | Description |
-| ------------------ | -------------------------------------------- | ----------- |
-| `input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map  |
+| Name               | Type                                    | Description |
+| ------------------ | --------------------------------------- | ----------- |
+| `input/vector_map` | `autoware_map_msgs::msg::LaneletMapBin` | vector map  |
 
 #### Output
 
diff --git a/localization/yabloc/yabloc_common/include/yabloc_common/ground_server/ground_server.hpp b/localization/yabloc/yabloc_common/include/yabloc_common/ground_server/ground_server.hpp
index 4cc4128ad5a70..92e5d939d0b7e 100644
--- a/localization/yabloc/yabloc_common/include/yabloc_common/ground_server/ground_server.hpp
+++ b/localization/yabloc/yabloc_common/include/yabloc_common/ground_server/ground_server.hpp
@@ -21,7 +21,7 @@
 #include <signal_processing/lowpass_filter_1d.hpp>
 #include <yabloc_common/ground_plane.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -44,7 +44,7 @@ class GroundServer : public rclcpp::Node
 {
 public:
   using GroundPlane = common::GroundPlane;
-  using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
+  using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin;
 
   using Pose = geometry_msgs::msg::Pose;
   using PoseStamped = geometry_msgs::msg::PoseStamped;
@@ -65,7 +65,7 @@ class GroundServer : public rclcpp::Node
   const int K;
 
   // Subscriber
-  rclcpp::Subscription<HADMapBin>::SharedPtr sub_map_;
+  rclcpp::Subscription<LaneletMapBin>::SharedPtr sub_map_;
   rclcpp::Subscription<PoseStamped>::SharedPtr sub_pose_stamped_;
   rclcpp::Subscription<PoseCovStamped>::SharedPtr sub_initial_pose_;
   // Publisher
@@ -86,7 +86,7 @@ class GroundServer : public rclcpp::Node
   std::vector<int> last_indices_;
 
   // Callback
-  void on_map(const HADMapBin & msg);
+  void on_map(const LaneletMapBin & msg);
   void on_initial_pose(const PoseCovStamped & msg);
   void on_pose_stamped(const PoseStamped & msg);
 
diff --git a/localization/yabloc/yabloc_common/include/yabloc_common/ll2_decomposer/ll2_decomposer.hpp b/localization/yabloc/yabloc_common/include/yabloc_common/ll2_decomposer/ll2_decomposer.hpp
index 784b3997faffd..b044ae985c6c0 100644
--- a/localization/yabloc/yabloc_common/include/yabloc_common/ll2_decomposer/ll2_decomposer.hpp
+++ b/localization/yabloc/yabloc_common/include/yabloc_common/ll2_decomposer/ll2_decomposer.hpp
@@ -17,7 +17,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <sensor_msgs/msg/image.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
@@ -35,7 +35,7 @@ class Ll2Decomposer : public rclcpp::Node
 {
 public:
   using Cloud2 = sensor_msgs::msg::PointCloud2;
-  using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
+  using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin;
   using Marker = visualization_msgs::msg::Marker;
   using MarkerArray = visualization_msgs::msg::MarkerArray;
 
@@ -47,12 +47,12 @@ class Ll2Decomposer : public rclcpp::Node
   rclcpp::Publisher<Cloud2>::SharedPtr pub_bounding_box_;
   rclcpp::Publisher<MarkerArray>::SharedPtr pub_marker_;
 
-  rclcpp::Subscription<HADMapBin>::SharedPtr sub_map_;
+  rclcpp::Subscription<LaneletMapBin>::SharedPtr sub_map_;
   std::set<std::string> road_marking_labels_;
   std::set<std::string> sign_board_labels_;
   std::set<std::string> bounding_box_labels_;
 
-  void on_map(const HADMapBin & msg);
+  void on_map(const LaneletMapBin & msg);
 
   pcl::PointNormal to_point_normal(
     const lanelet::ConstPoint3d & from, const lanelet::ConstPoint3d & to) const;
diff --git a/localization/yabloc/yabloc_common/package.xml b/localization/yabloc/yabloc_common/package.xml
index caf044660257e..de675da5cc2d4 100644
--- a/localization/yabloc/yabloc_common/package.xml
+++ b/localization/yabloc/yabloc_common/package.xml
@@ -16,7 +16,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
-  <depend>autoware_auto_mapping_msgs</depend>
+  <depend>autoware_map_msgs</depend>
   <depend>cv_bridge</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_core</depend>
diff --git a/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp b/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp
index 75d5f8e1f9cbc..d2d1929991442 100644
--- a/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp
+++ b/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp
@@ -43,7 +43,7 @@ GroundServer::GroundServer(const rclcpp::NodeOptions & options)
   auto on_pose = std::bind(&GroundServer::on_pose_stamped, this, _1);
   auto on_map = std::bind(&GroundServer::on_map, this, _1);
 
-  sub_map_ = create_subscription<HADMapBin>("~/input/vector_map", map_qos, on_map);
+  sub_map_ = create_subscription<LaneletMapBin>("~/input/vector_map", map_qos, on_map);
   sub_pose_stamped_ = create_subscription<PoseStamped>("~/input/pose", 10, on_pose);
 
   pub_ground_height_ = create_publisher<Float32>("~/output/height", 10);
@@ -100,7 +100,7 @@ void GroundServer::on_pose_stamped(const PoseStamped & msg)
   }
 }
 
-void GroundServer::on_map(const HADMapBin & msg)
+void GroundServer::on_map(const LaneletMapBin & msg)
 {
   lanelet::LaneletMapPtr lanelet_map(new lanelet::LaneletMap);
   lanelet::utils::conversion::fromBinMsg(msg, lanelet_map);
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 df56f43b9287c..d0dfc87067f7f 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
@@ -38,7 +38,7 @@ Ll2Decomposer::Ll2Decomposer(const rclcpp::NodeOptions & options) : Node("ll2_to
 
   // Subscriber
   auto cb_map = std::bind(&Ll2Decomposer::on_map, this, _1);
-  sub_map_ = create_subscription<HADMapBin>("~/input/vector_map", map_qos, cb_map);
+  sub_map_ = create_subscription<LaneletMapBin>("~/input/vector_map", map_qos, cb_map);
 
   auto load_lanelet2_labels =
     [this](const std::string & param_name, std::set<std::string> & labels) -> void {
@@ -102,7 +102,7 @@ pcl::PointCloud<pcl::PointXYZL> Ll2Decomposer::load_bounding_boxes(
   return cloud;
 }
 
-void Ll2Decomposer::on_map(const HADMapBin & msg)
+void Ll2Decomposer::on_map(const LaneletMapBin & msg)
 {
   RCLCPP_INFO_STREAM(get_logger(), "subscribed binary vector map");
   lanelet::LaneletMapPtr lanelet_map(new lanelet::LaneletMap);
diff --git a/localization/yabloc/yabloc_pose_initializer/README.md b/localization/yabloc/yabloc_pose_initializer/README.md
index 33b9788cca3d3..9ab5dd570510d 100644
--- a/localization/yabloc/yabloc_pose_initializer/README.md
+++ b/localization/yabloc/yabloc_pose_initializer/README.md
@@ -45,11 +45,11 @@ Converted model URL
 
 #### Input
 
-| Name                | Type                                         | Description              |
-| ------------------- | -------------------------------------------- | ------------------------ |
-| `input/camera_info` | `sensor_msgs::msg::CameraInfo`               | undistorted camera info  |
-| `input/image_raw`   | `sensor_msgs::msg::Image`                    | undistorted camera image |
-| `input/vector_map`  | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map               |
+| Name                | Type                                    | Description              |
+| ------------------- | --------------------------------------- | ------------------------ |
+| `input/camera_info` | `sensor_msgs::msg::CameraInfo`          | undistorted camera info  |
+| `input/image_raw`   | `sensor_msgs::msg::Image`               | undistorted camera image |
+| `input/vector_map`  | `autoware_map_msgs::msg::LaneletMapBin` | vector map               |
 
 #### Output
 
diff --git a/localization/yabloc/yabloc_pose_initializer/include/yabloc_pose_initializer/camera/camera_pose_initializer.hpp b/localization/yabloc/yabloc_pose_initializer/include/yabloc_pose_initializer/camera/camera_pose_initializer.hpp
index 917a6ecaaf291..979d1b370699e 100644
--- a/localization/yabloc/yabloc_pose_initializer/include/yabloc_pose_initializer/camera/camera_pose_initializer.hpp
+++ b/localization/yabloc/yabloc_pose_initializer/include/yabloc_pose_initializer/camera/camera_pose_initializer.hpp
@@ -23,7 +23,7 @@
 #include <opencv2/core.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <sensor_msgs/msg/image.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -40,7 +40,7 @@ class CameraPoseInitializer : public rclcpp::Node
   using PoseCovStamped = geometry_msgs::msg::PoseWithCovarianceStamped;
   using PointCloud2 = sensor_msgs::msg::PointCloud2;
   using Image = sensor_msgs::msg::Image;
-  using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
+  using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin;
   using RequestPoseAlignment = tier4_localization_msgs::srv::PoseWithCovarianceStamped;
 
   CameraPoseInitializer();
@@ -52,7 +52,7 @@ class CameraPoseInitializer : public rclcpp::Node
   std::unique_ptr<initializer::ProjectorModule> projector_module_{nullptr};
 
   rclcpp::Subscription<PoseCovStamped>::SharedPtr sub_initialpose_;
-  rclcpp::Subscription<HADMapBin>::SharedPtr sub_map_;
+  rclcpp::Subscription<LaneletMapBin>::SharedPtr sub_map_;
   rclcpp::Subscription<Image>::SharedPtr sub_image_;
 
   rclcpp::Service<RequestPoseAlignment>::SharedPtr align_server_;
@@ -63,7 +63,7 @@ class CameraPoseInitializer : public rclcpp::Node
 
   std::unique_ptr<SemanticSegmentation> semantic_segmentation_{nullptr};
 
-  void on_map(const HADMapBin & msg);
+  void on_map(const LaneletMapBin & msg);
   void on_service(
     const RequestPoseAlignment::Request::SharedPtr,
     RequestPoseAlignment::Response::SharedPtr request);
diff --git a/localization/yabloc/yabloc_pose_initializer/package.xml b/localization/yabloc/yabloc_pose_initializer/package.xml
index afd0d4aa86bcf..7ed16c9a8b82d 100644
--- a/localization/yabloc/yabloc_pose_initializer/package.xml
+++ b/localization/yabloc/yabloc_pose_initializer/package.xml
@@ -16,7 +16,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
-  <depend>autoware_auto_mapping_msgs</depend>
+  <depend>autoware_map_msgs</depend>
   <depend>cv_bridge</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
diff --git a/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp b/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp
index 19d3c8d88f260..083e7dd5bcd43 100644
--- a/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp
+++ b/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp
@@ -40,7 +40,7 @@ CameraPoseInitializer::CameraPoseInitializer()
   // Subscriber
   auto on_map = std::bind(&CameraPoseInitializer::on_map, this, _1);
   auto on_image = [this](Image::ConstSharedPtr msg) -> void { latest_image_msg_ = msg; };
-  sub_map_ = create_subscription<HADMapBin>("~/input/vector_map", map_qos, on_map);
+  sub_map_ = create_subscription<LaneletMapBin>("~/input/vector_map", map_qos, on_map);
   sub_image_ = create_subscription<Image>("~/input/image_raw", 10, on_image);
 
   // Server
@@ -164,7 +164,7 @@ std::optional<double> CameraPoseInitializer::estimate_pose(
   return angles_rad.at(max_index);
 }
 
-void CameraPoseInitializer::on_map(const HADMapBin & msg)
+void CameraPoseInitializer::on_map(const LaneletMapBin & msg)
 {
   lanelet::LaneletMapPtr lanelet_map(new lanelet::LaneletMap);
   lanelet::utils::conversion::fromBinMsg(msg, lanelet_map);