diff --git a/control/vehicle_cmd_analyzer/include/vehicle_cmd_analyzer/vehicle_cmd_analyzer.hpp b/control/vehicle_cmd_analyzer/include/vehicle_cmd_analyzer/vehicle_cmd_analyzer.hpp
index f3f77e62..7e68da3e 100644
--- a/control/vehicle_cmd_analyzer/include/vehicle_cmd_analyzer/vehicle_cmd_analyzer.hpp
+++ b/control/vehicle_cmd_analyzer/include/vehicle_cmd_analyzer/vehicle_cmd_analyzer.hpp
@@ -20,7 +20,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include "autoware_auto_control_msgs/msg/ackermann_control_command.hpp"
+#include "autoware_control_msgs/msg/control.hpp"
 #include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
 
 #include <algorithm>
@@ -32,13 +32,11 @@
 class VehicleCmdAnalyzer : public rclcpp::Node
 {
 private:
-  rclcpp::Subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>::SharedPtr
-    sub_vehicle_cmd_;
+  rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr sub_vehicle_cmd_;
   rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr pub_debug_;
   rclcpp::TimerBase::SharedPtr timer_control_;
 
-  std::shared_ptr<autoware_auto_control_msgs::msg::AckermannControlCommand> vehicle_cmd_ptr_{
-    nullptr};
+  std::shared_ptr<autoware_control_msgs::msg::Control> vehicle_cmd_ptr_{nullptr};
 
   // timer callback
   double control_rate_;
@@ -54,8 +52,7 @@ class VehicleCmdAnalyzer : public rclcpp::Node
   // debug values
   DebugValues debug_values_;
 
-  void callbackVehicleCommand(
-    const autoware_auto_control_msgs::msg::AckermannControlCommand::SharedPtr msg);
+  void callbackVehicleCommand(const autoware_control_msgs::msg::Control::SharedPtr msg);
 
   void callbackTimerControl();
 
diff --git a/control/vehicle_cmd_analyzer/package.xml b/control/vehicle_cmd_analyzer/package.xml
index 345cf595..9e190656 100644
--- a/control/vehicle_cmd_analyzer/package.xml
+++ b/control/vehicle_cmd_analyzer/package.xml
@@ -11,7 +11,7 @@
 
   <build_depend>autoware_cmake</build_depend>
 
-  <depend>autoware_auto_control_msgs</depend>
+  <depend>autoware_control_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tier4_debug_msgs</depend>
diff --git a/control/vehicle_cmd_analyzer/src/vehicle_cmd_analyzer.cpp b/control/vehicle_cmd_analyzer/src/vehicle_cmd_analyzer.cpp
index bf5063dc..ceab6298 100644
--- a/control/vehicle_cmd_analyzer/src/vehicle_cmd_analyzer.cpp
+++ b/control/vehicle_cmd_analyzer/src/vehicle_cmd_analyzer.cpp
@@ -30,10 +30,9 @@ VehicleCmdAnalyzer::VehicleCmdAnalyzer(const rclcpp::NodeOptions & options)
   const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo();
   wheelbase_ = vehicle_info.wheel_base_m;
 
-  sub_vehicle_cmd_ =
-    this->create_subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>(
-      "/control/command/control_cmd", rclcpp::QoS(10),
-      std::bind(&VehicleCmdAnalyzer::callbackVehicleCommand, this, std::placeholders::_1));
+  sub_vehicle_cmd_ = this->create_subscription<autoware_control_msgs::msg::Control>(
+    "/control/command/control_cmd", rclcpp::QoS(10),
+    std::bind(&VehicleCmdAnalyzer::callbackVehicleCommand, this, std::placeholders::_1));
   pub_debug_ = create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
     "~/debug_values", rclcpp::QoS{1});
 
@@ -50,10 +49,9 @@ VehicleCmdAnalyzer::VehicleCmdAnalyzer(const rclcpp::NodeOptions & options)
 }
 
 void VehicleCmdAnalyzer::callbackVehicleCommand(
-  const autoware_auto_control_msgs::msg::AckermannControlCommand::SharedPtr msg)
+  const autoware_control_msgs::msg::Control::SharedPtr msg)
 {
-  vehicle_cmd_ptr_ =
-    std::make_shared<autoware_auto_control_msgs::msg::AckermannControlCommand>(*msg);
+  vehicle_cmd_ptr_ = std::make_shared<autoware_control_msgs::msg::Control>(*msg);
 }
 
 void VehicleCmdAnalyzer::callbackTimerControl()
@@ -76,7 +74,7 @@ void VehicleCmdAnalyzer::publishDebugData()
   // set debug values
   debug_values_.setValues(DebugValues::TYPE::DT, dt);
   debug_values_.setValues(
-    DebugValues::TYPE::CURRENT_TARGET_VEL, vehicle_cmd_ptr_->longitudinal.speed);
+    DebugValues::TYPE::CURRENT_TARGET_VEL, vehicle_cmd_ptr_->longitudinal.velocity);
   debug_values_.setValues(DebugValues::TYPE::CURRENT_TARGET_D_VEL, d_vel);
   debug_values_.setValues(DebugValues::TYPE::CURRENT_TARGET_DD_VEL, dd_vel);
   debug_values_.setValues(
@@ -111,13 +109,13 @@ double VehicleCmdAnalyzer::getDt()
 std::pair<double, double> VehicleCmdAnalyzer::differentiateVelocity(const double dt)
 {
   if (!prev_target_vel_) {
-    prev_target_vel_ = vehicle_cmd_ptr_->longitudinal.speed;
+    prev_target_vel_ = vehicle_cmd_ptr_->longitudinal.velocity;
     prev_target_d_vel_.at(2) = 0.0;
     return {0.0, 0.0};
   }
-  const double d_vel = (vehicle_cmd_ptr_->longitudinal.speed - prev_target_vel_) / dt;
+  const double d_vel = (vehicle_cmd_ptr_->longitudinal.velocity - prev_target_vel_) / dt;
   const double dd_vel = (d_vel - prev_target_d_vel_.at(0)) / 2 / dt;
-  prev_target_vel_ = vehicle_cmd_ptr_->longitudinal.speed;
+  prev_target_vel_ = vehicle_cmd_ptr_->longitudinal.velocity;
   for (int i = 0; i < 2; i++) {
     prev_target_d_vel_.at(i) = prev_target_d_vel_.at(i + 1);
   }
@@ -139,7 +137,7 @@ double VehicleCmdAnalyzer::differentiateAcceleration(const double dt)
 double VehicleCmdAnalyzer::calcLateralAcceleration() const
 {
   const double delta = vehicle_cmd_ptr_->lateral.steering_tire_angle;
-  const double vel = vehicle_cmd_ptr_->longitudinal.speed;
+  const double vel = vehicle_cmd_ptr_->longitudinal.velocity;
   const double a_lat = vel * vel * std::sin(delta) / wheelbase_;
   return a_lat;
 }
diff --git a/localization/deviation_estimation_tools/ReadMe.md b/localization/deviation_estimation_tools/ReadMe.md
index 8bc5819d..df26f2e2 100644
--- a/localization/deviation_estimation_tools/ReadMe.md
+++ b/localization/deviation_estimation_tools/ReadMe.md
@@ -60,7 +60,7 @@ Topic information: Topic: /localization/pose_estimator/pose_with_covariance | Ty
                    Topic: /clock | Type: rosgraph_msgs/msg/Clock | Count: 57309 | Serialization Format: cdr
                    Topic: /tf_static | Type: tf2_msgs/msg/TFMessage | Count: 2 | Serialization Format: cdr
                    Topic: /sensing/imu/tamagawa/imu_raw | Type: sensor_msgs/msg/Imu | Count: 8076 | Serialization Format: cdr
-                   Topic: /vehicle/status/velocity_status | Type: autoware_auto_vehicle_msgs/msg/VelocityReport | Count: 8275 | Serialization Format: cdr
+                   Topic: /vehicle/status/velocity_status | Type: autoware_vehicle_msgs/msg/VelocityReport | Count: 8275 | Serialization Format: cdr
 
 ```
 
@@ -183,11 +183,11 @@ The parameters and input topic names can be seen in the `deviation_estimator.lau
 
 #### Input
 
-| Name                     | Type                                              | Description          |
-| ------------------------ | ------------------------------------------------- | -------------------- |
-| `in_pose_with_covariance | `geometry_msgs::msg::PoseWithCovarianceStamped`   | Input pose           |
-| `in_imu`                 | `sensor_msgs::msg::Imu`                           | Input IMU data       |
-| `in_wheel_odometry`      | `autoware_auto_vehicle_msgs::msg::VelocityReport` | Input wheel odometry |
+| Name                     | Type                                            | Description          |
+| ------------------------ | ----------------------------------------------- | -------------------- |
+| `in_pose_with_covariance | `geometry_msgs::msg::PoseWithCovarianceStamped` | Input pose           |
+| `in_imu`                 | `sensor_msgs::msg::Imu`                         | Input IMU data       |
+| `in_wheel_odometry`      | `autoware_vehicle_msgs::msg::VelocityReport`    | Input wheel odometry |
 
 #### Output
 
diff --git a/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/deviation_estimator.hpp b/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/deviation_estimator.hpp
index 94f30509..bf773638 100644
--- a/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/deviation_estimator.hpp
+++ b/localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/deviation_estimator.hpp
@@ -24,7 +24,7 @@
 #include "tf2/utils.h"
 #include "tier4_autoware_utils/ros/transform_listener.hpp"
 
-#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
+#include "autoware_vehicle_msgs/msg/velocity_report.hpp"
 #include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "geometry_msgs/msg/twist_with_covariance_stamped.hpp"
@@ -58,8 +58,7 @@ class DeviationEstimator : public rclcpp::Node
 
 private:
   rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr sub_pose_with_cov_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>::SharedPtr
-    sub_wheel_odometry_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::VelocityReport>::SharedPtr sub_wheel_odometry_;
   rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr sub_imu_;
   rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr pub_coef_vx_;
   rclcpp::Publisher<geometry_msgs::msg::Vector3>::SharedPtr pub_bias_angvel_;
@@ -109,7 +108,7 @@ class DeviationEstimator : public rclcpp::Node
   void callback_pose_with_covariance(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg);
 
   void callback_wheel_odometry(
-    const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr wheel_odometry_msg_ptr);
+    const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr wheel_odometry_msg_ptr);
 
   void callback_imu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr);
 
diff --git a/localization/deviation_estimation_tools/deviation_estimator/package.xml b/localization/deviation_estimation_tools/deviation_estimator/package.xml
index d15a6a00..21cc5504 100644
--- a/localization/deviation_estimation_tools/deviation_estimator/package.xml
+++ b/localization/deviation_estimation_tools/deviation_estimator/package.xml
@@ -10,7 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <build_depend>autoware_cmake</build_depend>
 
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
diff --git a/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator.cpp b/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator.cpp
index ebf0974a..cc3f255c 100644
--- a/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator.cpp
+++ b/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator.cpp
@@ -167,7 +167,7 @@ DeviationEstimator::DeviationEstimator(
 
   sub_imu_ = create_subscription<sensor_msgs::msg::Imu>(
     "in_imu", 1, std::bind(&DeviationEstimator::callback_imu, this, _1));
-  sub_wheel_odometry_ = create_subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>(
+  sub_wheel_odometry_ = create_subscription<autoware_vehicle_msgs::msg::VelocityReport>(
     "in_wheel_odometry", 1, std::bind(&DeviationEstimator::callback_wheel_odometry, this, _1));
   results_logger_.log_estimated_result_section(
     0.2, 0.0, geometry_msgs::msg::Vector3{}, geometry_msgs::msg::Vector3{});
@@ -200,7 +200,7 @@ void DeviationEstimator::callback_pose_with_covariance(
  * @brief receive velocity data and store it in a buffer
  */
 void DeviationEstimator::callback_wheel_odometry(
-  const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr wheel_odometry_msg_ptr)
+  const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr wheel_odometry_msg_ptr)
 {
   tier4_debug_msgs::msg::Float64Stamped vx;
   vx.stamp = wheel_odometry_msg_ptr->header.stamp;
diff --git a/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator_main.cpp b/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator_main.cpp
index 578c0def..6346e8e0 100644
--- a/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator_main.cpp
+++ b/localization/deviation_estimation_tools/deviation_estimator/src/deviation_estimator_main.cpp
@@ -58,8 +58,7 @@ int main(int argc, char ** argv)
   reader.open(storage_options, converter_options);
 
   // Prepare serialization
-  rclcpp::Serialization<autoware_auto_vehicle_msgs::msg::VelocityReport>
-    serialization_velocity_status;
+  rclcpp::Serialization<autoware_vehicle_msgs::msg::VelocityReport> serialization_velocity_status;
   rclcpp::Serialization<tf2_msgs::msg::TFMessage> serialization_tf;
   rclcpp::Serialization<sensor_msgs::msg::Imu> serialization_imu;
   rclcpp::Serialization<geometry_msgs::msg::PoseWithCovarianceStamped> serialization_pose;
@@ -83,8 +82,8 @@ int main(int argc, char ** argv)
     const rclcpp::SerializedMessage msg(*serialized_message->serialized_data);
 
     if (topic_name == "/vehicle/status/velocity_status") {
-      autoware_auto_vehicle_msgs::msg::VelocityReport::SharedPtr velocity_status_msg =
-        std::make_shared<autoware_auto_vehicle_msgs::msg::VelocityReport>();
+      autoware_vehicle_msgs::msg::VelocityReport::SharedPtr velocity_status_msg =
+        std::make_shared<autoware_vehicle_msgs::msg::VelocityReport>();
       serialization_velocity_status.deserialize_message(&msg, velocity_status_msg.get());
       const rclcpp::Time curr_stamp = velocity_status_msg->header.stamp;
       first_stamp = std::min(first_stamp, curr_stamp);
diff --git a/planning/planning_debug_tools/scripts/closest_velocity_checker.py b/planning/planning_debug_tools/scripts/closest_velocity_checker.py
index a8a553a3..cf00a2ad 100755
--- a/planning/planning_debug_tools/scripts/closest_velocity_checker.py
+++ b/planning/planning_debug_tools/scripts/closest_velocity_checker.py
@@ -104,13 +104,13 @@ def __init__(self):
 
         # control commands
         self.sub6 = self.create_subscription(
-            AckermannControlCommand,
+            Control,
             "/control/trajectory_follower/control_cmd",
             self.CallBackControlCmd,
             1,
         )
         self.sub7 = self.create_subscription(
-            AckermannControlCommand, "/control/command/control_cmd", self.CallBackVehicleCmd, 1
+            Control, "/control/command/control_cmd", self.CallBackVehicleCmd, 1
         )
 
         # others related to velocity
diff --git a/vehicle/calibration_adapter/include/calibration_adapter/calibration_adapter_node.hpp b/vehicle/calibration_adapter/include/calibration_adapter/calibration_adapter_node.hpp
index 62c50bca..32befa12 100644
--- a/vehicle/calibration_adapter/include/calibration_adapter/calibration_adapter_node.hpp
+++ b/vehicle/calibration_adapter/include/calibration_adapter/calibration_adapter_node.hpp
@@ -21,8 +21,8 @@
 #include "estimator_utils/math_utils.hpp"
 #include "rclcpp/rclcpp.hpp"
 
-#include "autoware_auto_control_msgs/msg/ackermann_control_command.hpp"
-#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
+#include "autoware_control_msgs/msg/control.hpp"
+#include "autoware_vehicle_msgs/msg/velocity_report.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
 #include "tier4_calibration_msgs/msg/float32_stamped.hpp"
 
@@ -30,8 +30,8 @@
 
 class CalibrationAdapterNode : public CalibrationAdapterNodeBase
 {
-  using Velocity = autoware_auto_vehicle_msgs::msg::VelocityReport;
-  using ControlCommandStamped = autoware_auto_control_msgs::msg::AckermannControlCommand;
+  using Velocity = autoware_vehicle_msgs::msg::VelocityReport;
+  using ControlCommandStamped = autoware_control_msgs::msg::Control;
   using TwistStamped = geometry_msgs::msg::TwistStamped;
 
 public:
diff --git a/vehicle/calibration_adapter/include/calibration_adapter/calibration_adapter_node_base.hpp b/vehicle/calibration_adapter/include/calibration_adapter/calibration_adapter_node_base.hpp
index 39a25534..53d34c1a 100644
--- a/vehicle/calibration_adapter/include/calibration_adapter/calibration_adapter_node_base.hpp
+++ b/vehicle/calibration_adapter/include/calibration_adapter/calibration_adapter_node_base.hpp
@@ -19,8 +19,8 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "autoware_auto_vehicle_msgs/msg/engage.hpp"
-#include "autoware_auto_vehicle_msgs/msg/steering_report.hpp"
+#include "autoware_vehicle_msgs/msg/engage.hpp"
+#include "autoware_vehicle_msgs/msg/steering_report.hpp"
 #include "tier4_calibration_msgs/msg/bool_stamped.hpp"
 #include "tier4_calibration_msgs/msg/float32_stamped.hpp"
 #include "tier4_vehicle_msgs/msg/actuation_command_stamped.hpp"
@@ -33,8 +33,8 @@ class CalibrationAdapterNodeBase : public rclcpp::Node
   using ActuationStatusStamped = tier4_vehicle_msgs::msg::ActuationStatusStamped;
   using Float32Stamped = tier4_calibration_msgs::msg::Float32Stamped;
   using BoolStamped = tier4_calibration_msgs::msg::BoolStamped;
-  using EngageStatus = autoware_auto_vehicle_msgs::msg::Engage;
-  using SteeringAngleStatus = autoware_auto_vehicle_msgs::msg::SteeringReport;
+  using EngageStatus = autoware_vehicle_msgs::msg::Engage;
+  using SteeringAngleStatus = autoware_vehicle_msgs::msg::SteeringReport;
   CalibrationAdapterNodeBase();
 
 private:
diff --git a/vehicle/calibration_adapter/package.xml b/vehicle/calibration_adapter/package.xml
index 5382a278..3f1b91db 100644
--- a/vehicle/calibration_adapter/package.xml
+++ b/vehicle/calibration_adapter/package.xml
@@ -11,8 +11,8 @@
 
   <build_depend>autoware_cmake</build_depend>
 
-  <depend>autoware_auto_control_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_control_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>estimator_utils</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
diff --git a/vehicle/calibration_adapter/src/calibration_adapter_node_base.cpp b/vehicle/calibration_adapter/src/calibration_adapter_node_base.cpp
index 7a3fe0c4..15673d36 100644
--- a/vehicle/calibration_adapter/src/calibration_adapter_node_base.cpp
+++ b/vehicle/calibration_adapter/src/calibration_adapter_node_base.cpp
@@ -52,7 +52,7 @@ CalibrationAdapterNodeBase::CalibrationAdapterNodeBase() : Node("calibration_ada
   pub_is_engage_ =
     create_publisher<tier4_calibration_msgs::msg::BoolStamped>("~/output/is_engage", durable_qos);
 
-  sub_engage_status_ = create_subscription<autoware_auto_vehicle_msgs::msg::Engage>(
+  sub_engage_status_ = create_subscription<autoware_vehicle_msgs::msg::Engage>(
     "~/input/is_engage", queue_size,
     std::bind(&CalibrationAdapterNodeBase::onEngageStatus, this, _1));
   sub_actuation_status_ = create_subscription<ActuationStatusStamped>(
diff --git a/vehicle/parameter_estimator/include/parameter_estimator/parameter_estimator_node.hpp b/vehicle/parameter_estimator/include/parameter_estimator/parameter_estimator_node.hpp
index 62bae678..e4eae654 100644
--- a/vehicle/parameter_estimator/include/parameter_estimator/parameter_estimator_node.hpp
+++ b/vehicle/parameter_estimator/include/parameter_estimator/parameter_estimator_node.hpp
@@ -25,7 +25,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "vehicle_info_util/vehicle_info_util.hpp"
 
-#include "autoware_auto_vehicle_msgs/msg/control_mode_report.hpp"
+#include "autoware_vehicle_msgs/msg/control_mode_report.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
 #include "sensor_msgs/msg/imu.hpp"
 #include "tier4_calibration_msgs/msg/float32_stamped.hpp"
@@ -38,7 +38,7 @@ class ParameterEstimatorNode : public rclcpp::Node
   rclcpp::Subscription<geometry_msgs::msg::TwistStamped>::SharedPtr sub_vehicle_twist_;
   rclcpp::Subscription<tier4_calibration_msgs::msg::Float32Stamped>::SharedPtr sub_steer_;
   rclcpp::Subscription<tier4_calibration_msgs::msg::Float32Stamped>::SharedPtr sub_steer_wheel_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>::SharedPtr
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr
     sub_control_mode_report_;
   rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr sub_imu_;
 
@@ -50,7 +50,7 @@ class ParameterEstimatorNode : public rclcpp::Node
   sensor_msgs::msg::Imu::ConstSharedPtr imu_ptr_;
   tier4_calibration_msgs::msg::Float32Stamped::ConstSharedPtr steer_ptr_;
   tier4_calibration_msgs::msg::Float32Stamped::ConstSharedPtr steer_wheel_ptr_;
-  autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr control_mode_ptr_;
+  autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr control_mode_ptr_;
 
   /**
    * ros parameters
@@ -77,7 +77,7 @@ class ParameterEstimatorNode : public rclcpp::Node
   void callbackSteer(const tier4_calibration_msgs::msg::Float32Stamped::ConstSharedPtr msg);
   void callbackSteerWheel(const tier4_calibration_msgs::msg::Float32Stamped::ConstSharedPtr msg);
   void callbackControlModeReport(
-    const autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg);
+    const autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg);
   void timerCallback();
   bool updateGearRatio();
 
diff --git a/vehicle/parameter_estimator/package.xml b/vehicle/parameter_estimator/package.xml
index e656bafc..66a996bf 100644
--- a/vehicle/parameter_estimator/package.xml
+++ b/vehicle/parameter_estimator/package.xml
@@ -10,7 +10,7 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>estimator_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
diff --git a/vehicle/parameter_estimator/src/parameter_estimator_node.cpp b/vehicle/parameter_estimator/src/parameter_estimator_node.cpp
index 9bb19934..08303cbe 100644
--- a/vehicle/parameter_estimator/src/parameter_estimator_node.cpp
+++ b/vehicle/parameter_estimator/src/parameter_estimator_node.cpp
@@ -73,10 +73,9 @@ ParameterEstimatorNode::ParameterEstimatorNode(const rclcpp::NodeOptions & node_
     sub_steer_ = create_subscription<tier4_calibration_msgs::msg::Float32Stamped>(
       "input/steer", queue_size, std::bind(&ParameterEstimatorNode::callbackSteer, this, _1));
   }
-  sub_control_mode_report_ =
-    create_subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>(
-      "input/control_mode", queue_size,
-      std::bind(&ParameterEstimatorNode::callbackControlModeReport, this, _1));
+  sub_control_mode_report_ = create_subscription<autoware_vehicle_msgs::msg::ControlModeReport>(
+    "input/control_mode", queue_size,
+    std::bind(&ParameterEstimatorNode::callbackControlModeReport, this, _1));
 
   initTimer(1.0 / update_hz_);
 }
@@ -173,11 +172,11 @@ void ParameterEstimatorNode::callbackSteerWheel(
 }
 
 void ParameterEstimatorNode::callbackControlModeReport(
-  const autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg)
+  const autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg)
 {
   auto & clk = *this->get_clock();
   control_mode_ptr_ = msg;
-  if (control_mode_ptr_->mode == autoware_auto_vehicle_msgs::msg::ControlModeReport::AUTONOMOUS) {
+  if (control_mode_ptr_->mode == autoware_vehicle_msgs::msg::ControlModeReport::AUTONOMOUS) {
     auto_mode_duration_ = (this->now().seconds() - last_manual_time_);
     RCLCPP_DEBUG_STREAM_THROTTLE(
       rclcpp::get_logger("parameter_estimator"), clk, 5000,
diff --git a/vehicle/time_delay_estimator/include/time_delay_estimator/general_time_delay_estimator_node.hpp b/vehicle/time_delay_estimator/include/time_delay_estimator/general_time_delay_estimator_node.hpp
index b1fe8ca3..54f0bd6d 100644
--- a/vehicle/time_delay_estimator/include/time_delay_estimator/general_time_delay_estimator_node.hpp
+++ b/vehicle/time_delay_estimator/include/time_delay_estimator/general_time_delay_estimator_node.hpp
@@ -23,7 +23,7 @@
 #include "time_delay_estimator/parameters.hpp"
 #include "time_delay_estimator/time_delay_estimator.hpp"
 
-#include "autoware_auto_vehicle_msgs/msg/control_mode_report.hpp"
+#include "autoware_vehicle_msgs/msg/control_mode_report.hpp"
 #include "std_msgs/msg/bool.hpp"
 #include "std_msgs/msg/float32.hpp"
 #include "std_msgs/msg/float32_multi_array.hpp"
@@ -44,7 +44,7 @@
 class TimeDelayEstimatorNode : public rclcpp::Node
 {
   using Float32Stamped = tier4_calibration_msgs::msg::Float32Stamped;
-  using ControlModeReport = autoware_auto_vehicle_msgs::msg::ControlModeReport;
+  using ControlModeReport = autoware_vehicle_msgs::msg::ControlModeReport;
   using IsEngaged = tier4_calibration_msgs::msg::BoolStamped;
   using BoolStamped = tier4_calibration_msgs::msg::BoolStamped;
   using TimeDelay = tier4_calibration_msgs::msg::TimeDelay;
@@ -54,7 +54,7 @@ class TimeDelayEstimatorNode : public rclcpp::Node
   rclcpp::Publisher<TimeDelay>::SharedPtr pub_time_delay_;
 
   // input subscription
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>::SharedPtr
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr
     sub_control_mode_report_;
 
   // response subscription
diff --git a/vehicle/time_delay_estimator/include/time_delay_estimator/time_delay_estimator_node.hpp b/vehicle/time_delay_estimator/include/time_delay_estimator/time_delay_estimator_node.hpp
index d31cf5e6..84742362 100644
--- a/vehicle/time_delay_estimator/include/time_delay_estimator/time_delay_estimator_node.hpp
+++ b/vehicle/time_delay_estimator/include/time_delay_estimator/time_delay_estimator_node.hpp
@@ -23,7 +23,7 @@
 #include "time_delay_estimator/parameters.hpp"
 #include "time_delay_estimator/time_delay_estimator.hpp"
 
-#include "autoware_auto_vehicle_msgs/msg/control_mode_report.hpp"
+#include "autoware_vehicle_msgs/msg/control_mode_report.hpp"
 #include "std_msgs/msg/bool.hpp"
 #include "std_msgs/msg/float32.hpp"
 #include "std_msgs/msg/float32_multi_array.hpp"
@@ -44,7 +44,7 @@
 class TimeDelayEstimatorNode : public rclcpp::Node
 {
   using Float32Stamped = tier4_calibration_msgs::msg::Float32Stamped;
-  using ControlModeReport = autoware_auto_vehicle_msgs::msg::ControlModeReport;
+  using ControlModeReport = autoware_vehicle_msgs::msg::ControlModeReport;
   using IsEngaged = tier4_calibration_msgs::msg::BoolStamped;
   using BoolStamped = tier4_calibration_msgs::msg::BoolStamped;
   using TimeDelay = tier4_calibration_msgs::msg::TimeDelay;
@@ -57,8 +57,7 @@ class TimeDelayEstimatorNode : public rclcpp::Node
   rclcpp::Publisher<TimeDelay>::SharedPtr pub_time_delay_steer_;
 
   // input subscription
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>::SharedPtr
-    sub_control_mode_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr sub_control_mode_;
 
   // response subscription
   rclcpp::Subscription<Float32Stamped>::SharedPtr sub_accel_cmd_;
diff --git a/vehicle/time_delay_estimator/package.xml b/vehicle/time_delay_estimator/package.xml
index fb6ecaea..83b4cc11 100644
--- a/vehicle/time_delay_estimator/package.xml
+++ b/vehicle/time_delay_estimator/package.xml
@@ -10,7 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <!--ros depends-->
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>calibration_adapter</depend>
   <depend>eigen</depend>
   <depend>estimator_utils</depend>
diff --git a/vehicle/time_delay_estimator/src/general_time_delay_estimator_node.cpp b/vehicle/time_delay_estimator/src/general_time_delay_estimator_node.cpp
index c835c76f..242b8376 100644
--- a/vehicle/time_delay_estimator/src/general_time_delay_estimator_node.cpp
+++ b/vehicle/time_delay_estimator/src/general_time_delay_estimator_node.cpp
@@ -80,10 +80,9 @@ TimeDelayEstimatorNode::TimeDelayEstimatorNode(const rclcpp::NodeOptions & node_
 
   last_manual_time_ = this->now().seconds();
   // input
-  sub_control_mode_report_ =
-    create_subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>(
-      "~/input/control_mode", queue_size,
-      std::bind(&TimeDelayEstimatorNode::callbackControlModeReport, this, _1));
+  sub_control_mode_report_ = create_subscription<autoware_vehicle_msgs::msg::ControlModeReport>(
+    "~/input/control_mode", queue_size,
+    std::bind(&TimeDelayEstimatorNode::callbackControlModeReport, this, _1));
 
   // response
   sub_input_cmd_ = create_subscription<Float32Stamped>(
@@ -189,7 +188,7 @@ void TimeDelayEstimatorNode::callbackControlModeReport(const ControlModeReport::
 {
   auto & clk = *this->get_clock();
   control_mode_ptr_ = msg;
-  if (control_mode_ptr_->mode == autoware_auto_vehicle_msgs::msg::ControlModeReport::AUTONOMOUS) {
+  if (control_mode_ptr_->mode == autoware_vehicle_msgs::msg::ControlModeReport::AUTONOMOUS) {
     auto_mode_duration_ = (this->now().seconds() - last_manual_time_);
     RCLCPP_DEBUG_STREAM_THROTTLE(
       rclcpp::get_logger("time_delay_estimator"), clk, 5000,
diff --git a/vehicle/time_delay_estimator/src/time_delay_estimator_node.cpp b/vehicle/time_delay_estimator/src/time_delay_estimator_node.cpp
index 8f982c5f..9fffa917 100644
--- a/vehicle/time_delay_estimator/src/time_delay_estimator_node.cpp
+++ b/vehicle/time_delay_estimator/src/time_delay_estimator_node.cpp
@@ -86,7 +86,7 @@ TimeDelayEstimatorNode::TimeDelayEstimatorNode(const rclcpp::NodeOptions & node_
 
   last_manual_time_ = this->now().seconds();
   // input
-  sub_control_mode_ = create_subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>(
+  sub_control_mode_ = create_subscription<autoware_vehicle_msgs::msg::ControlModeReport>(
     "~/input/control_mode", queue_size,
     std::bind(&TimeDelayEstimatorNode::callbackControlModeReport, this, _1));
 
@@ -296,7 +296,7 @@ void TimeDelayEstimatorNode::callbackControlModeReport(const ControlModeReport::
 {
   auto & clk = *this->get_clock();
   control_mode_ptr_ = msg;
-  if (control_mode_ptr_->mode == autoware_auto_vehicle_msgs::msg::ControlModeReport::AUTONOMOUS) {
+  if (control_mode_ptr_->mode == autoware_vehicle_msgs::msg::ControlModeReport::AUTONOMOUS) {
     auto_mode_duration_ = (this->now().seconds() - last_manual_time_);
     RCLCPP_DEBUG_STREAM_THROTTLE(
       rclcpp::get_logger("time_delay_estimator"), clk, 5000,