diff --git a/build_depends.repos b/build_depends.repos
index 5ff343a0d..838e8e123 100644
--- a/build_depends.repos
+++ b/build_depends.repos
@@ -12,10 +12,6 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
     version: main
-  core/external/autoware_auto_msgs:
-    type: git
-    url: https://github.com/tier4/autoware_auto_msgs.git
-    version: tier4/main
   core/autoware_adapi_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
diff --git a/planning/planning_debug_tools/package.xml b/planning/planning_debug_tools/package.xml
index fc945b42b..dd9ad6226 100644
--- a/planning/planning_debug_tools/package.xml
+++ b/planning/planning_debug_tools/package.xml
@@ -17,7 +17,6 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
-  <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
diff --git a/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py b/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py
index 10f413ba7..6cd8b36c4 100644
--- a/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py
+++ b/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py
@@ -19,12 +19,7 @@
 from subprocess import check_output
 import time
 
-from autoware_auto_perception_msgs.msg import (
-    TrafficSignalArray as autoware_auto_perception_msgs_TrafficSignalArray,
-)
-from autoware_perception_msgs.msg import (
-    TrafficSignalArray as autoware_perception_msgs_TrafficSignalArray,
-)
+from autoware_perception_msgs.msg import TrafficSignalArray as autoware_perception_msgs_TrafficSignalArray
 from autoware_perception_msgs.msg import DetectedObjects
 from autoware_perception_msgs.msg import PredictedObjects
 from autoware_perception_msgs.msg import TrackedObjects
@@ -154,22 +149,7 @@ def load_rosbag(self, rosbag2_path: str):
                     assert (
                         type(new_msg).__name__ == "TrafficLightGroupArray"
                     ), f"Unsupported conversion to {type(new_msg).__name__}"
-                    if isinstance(msg, autoware_auto_perception_msgs_TrafficSignalArray):
-                        new_msg.stamp = msg.header.stamp
-                        for traffic_signal in msg.signals:
-                            traffic_light_group = TrafficLightGroup()
-                            traffic_light_group.traffic_light_group_id = (
-                                traffic_signal.map_primitive_id
-                            )
-                            for traffic_light in traffic_signal.lights:
-                                traffic_light_element = TrafficLightElement()
-                                traffic_light_element.color = traffic_light.color
-                                traffic_light_element.shape = traffic_light.shape
-                                traffic_light_element.status = traffic_light.status
-                                traffic_light_element.confidence = traffic_light.confidence
-                                traffic_light_group.elements.append(traffic_light_element)
-                            new_msg.traffic_light_groups.append(traffic_light_group)
-                    elif isinstance(msg, autoware_perception_msgs_TrafficSignalArray):
+                    if isinstance(msg, autoware_perception_msgs_TrafficSignalArray):
                         new_msg.stamp = msg.stamp
                         for traffic_signal in msg.signals:
                             traffic_light_group = TrafficLightGroup()