diff --git a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp
index 85ae411311612..d07ed22fc12dd 100644
--- a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp
+++ b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp
@@ -16,8 +16,8 @@
 
 #include "autoware/evaluator_utils/evaluator_utils.hpp"
 
-#include <autoware_lanelet2_extension/utility/query.hpp>
-#include <autoware_lanelet2_extension/utility/utilities.hpp>
+#include <lanelet2_extension/utility/query.hpp>
+#include <lanelet2_extension/utility/utilities.hpp>
 
 #include <algorithm>
 #include <limits>
diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp
index e63f24396bd6f..0121425c15d1d 100644
--- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp
+++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp
@@ -21,25 +21,19 @@
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"
 
-#include <autoware/route_handler/route_handler.hpp>
-#include <autoware/universe_utils/ros/polling_subscriber.hpp>
-
 #include "autoware_perception_msgs/msg/predicted_objects.hpp"
 #include "autoware_planning_msgs/msg/pose_with_uuid_stamped.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
 #include "diagnostic_msgs/msg/diagnostic_array.hpp"
-#include "geometry_msgs/msg/accel_with_covariance_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
-#include <autoware_planning_msgs/msg/lanelet_route.hpp>
-#include <diagnostic_msgs/msg/detail/diagnostic_status__struct.hpp>
 
 #include <array>
 #include <deque>
 #include <memory>
 #include <string>
-#include <utility>
 #include <vector>
+
 namespace planning_diagnostics
 {
 using autoware_perception_msgs::msg::PredictedObjects;
@@ -49,9 +43,6 @@ using autoware_planning_msgs::msg::TrajectoryPoint;
 using diagnostic_msgs::msg::DiagnosticArray;
 using diagnostic_msgs::msg::DiagnosticStatus;
 using nav_msgs::msg::Odometry;
-using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin;
-using autoware_planning_msgs::msg::LaneletRoute;
-using geometry_msgs::msg::AccelWithCovarianceStamped;
 /**
  * @brief Node for planning evaluation
  */
@@ -91,54 +82,15 @@ class PlanningEvaluatorNode : public rclcpp::Node
    */
   void onModifiedGoal(const PoseWithUuidStamped::ConstSharedPtr modified_goal_msg);
 
-  /**
-   * @brief obtain diagnostics information
-   */
-  void onDiagnostics(const DiagnosticArray::ConstSharedPtr diag_msg);
-
   /**
    * @brief publish the given metric statistic
    */
   DiagnosticStatus generateDiagnosticStatus(
     const Metric & metric, const Stat<double> & metric_stat) const;
 
-  /**
-   * @brief publish current ego lane info
-   */
-  DiagnosticStatus generateDiagnosticEvaluationStatus(const DiagnosticStatus & diag);
-
-  /**
-   * @brief publish current ego lane info
-   */
-  DiagnosticStatus generateLaneletDiagnosticStatus(const Odometry::ConstSharedPtr ego_state_ptr);
-
-  /**
-   * @brief publish current ego kinematic state
-   */
-  DiagnosticStatus generateKinematicStateDiagnosticStatus(
-    const AccelWithCovarianceStamped & accel_stamped, const Odometry::ConstSharedPtr ego_state_ptr);
-
 private:
   static bool isFinite(const TrajectoryPoint & p);
-
-  /**
-   * @brief update route handler data
-   */
-  void getRouteData();
-
-  /**
-   * @brief fetch data and publish diagnostics
-   */
-  void onTimer();
-
-  /**
-   * @brief fetch topic data
-   */
-  void fetchData();
-  // The diagnostics cycle is faster than timer, and each node publishes diagnostic separately.
-  // takeData() in onTimer() with a polling subscriber will miss a topic, so save all topics with
-  // onDiagnostics().
-  rclcpp::Subscription<DiagnosticArray>::SharedPtr planning_diag_sub_;
+  void publishModifiedGoalDeviationMetrics();
 
   // ROS
   rclcpp::Subscription<Trajectory>::SharedPtr traj_sub_;
@@ -146,17 +98,10 @@ class PlanningEvaluatorNode : public rclcpp::Node
   rclcpp::Subscription<PredictedObjects>::SharedPtr objects_sub_;
   rclcpp::Subscription<PoseWithUuidStamped>::SharedPtr modified_goal_sub_;
   rclcpp::Subscription<Odometry>::SharedPtr odom_sub_;
-  autoware::universe_utils::InterProcessPollingSubscriber<LaneletRoute> route_subscriber_{
-    this, "~/input/route", rclcpp::QoS{1}.transient_local()};
-  autoware::universe_utils::InterProcessPollingSubscriber<LaneletMapBin> vector_map_subscriber_{
-    this, "~/input/vector_map", rclcpp::QoS{1}.transient_local()};
-  autoware::universe_utils::InterProcessPollingSubscriber<AccelWithCovarianceStamped> accel_sub_{
-    this, "~/input/acceleration"};
 
   rclcpp::Publisher<DiagnosticArray>::SharedPtr metrics_pub_;
   std::shared_ptr<tf2_ros::TransformListener> transform_listener_{nullptr};
   std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
-  autoware::route_handler::RouteHandler route_handler_;
 
   // Parameters
   std::string output_file_str_;
@@ -169,11 +114,8 @@ class PlanningEvaluatorNode : public rclcpp::Node
   std::deque<rclcpp::Time> stamps_;
   std::array<std::deque<Stat<double>>, static_cast<size_t>(Metric::SIZE)> metric_stats_;
 
-  rclcpp::TimerBase::SharedPtr timer_;
-  // queue for diagnostics and time stamp
-  std::deque<std::pair<DiagnosticStatus, rclcpp::Time>> diag_queue_;
-  const std::vector<std::string> target_functions_ = {"obstacle_cruise_planner"};
-  std::optional<AccelWithCovarianceStamped> prev_acc_stamped_{std::nullopt};
+  Odometry::ConstSharedPtr ego_state_ptr_;
+  PoseWithUuidStamped::ConstSharedPtr modified_goal_ptr_;
 };
 }  // namespace planning_diagnostics
 
diff --git a/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml b/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml
index ec509993afc18..b36e276c06944 100644
--- a/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml
+++ b/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml
@@ -1,27 +1,19 @@
 <launch>
   <arg name="input/odometry" default="/localization/kinematic_state"/>
-  <arg name="input/acceleration" default="/localization/acceleration"/>
   <arg name="input/trajectory" default="/planning/scenario_planning/trajectory"/>
   <arg name="input/reference_trajectory" default="/planning/scenario_planning/lane_driving/motion_planning/path_optimizer/trajectory"/>
   <arg name="input/objects" default="/perception/object_recognition/objects"/>
   <arg name="input/modified_goal" default="/planning/scenario_planning/modified_goal"/>
-  <arg name="input/map_topic" default="/map/vector_map"/>
-  <arg name="input/route_topic" default="/planning/mission_planning/route"/>
-  <arg name="input/diagnostics" default="/diagnostics"/>
 
   <!-- planning evaluator -->
   <group>
     <node name="planning_evaluator" exec="planning_evaluator" pkg="autoware_planning_evaluator">
       <param from="$(find-pkg-share autoware_planning_evaluator)/param/planning_evaluator.defaults.yaml"/>
       <remap from="~/input/odometry" to="$(var input/odometry)"/>
-      <remap from="~/input/acceleration" to="$(var input/acceleration)"/>
       <remap from="~/input/trajectory" to="$(var input/trajectory)"/>
-      <remap from="~/input/diagnostics" to="$(var input/diagnostics)"/>
       <remap from="~/input/reference_trajectory" to="$(var input/reference_trajectory)"/>
       <remap from="~/input/objects" to="$(var input/objects)"/>
       <remap from="~/input/modified_goal" to="$(var input/modified_goal)"/>
-      <remap from="~/input/route" to="$(var input/route_topic)"/>
-      <remap from="~/input/vector_map" to="$(var input/map_topic)"/>
       <remap from="~/metrics" to="/planning/planning_evaluator/metrics"/>
     </node>
   </group>
diff --git a/evaluator/autoware_planning_evaluator/package.xml b/evaluator/autoware_planning_evaluator/package.xml
index eb3161e0afb35..5bd500f200eac 100644
--- a/evaluator/autoware_planning_evaluator/package.xml
+++ b/evaluator/autoware_planning_evaluator/package.xml
@@ -13,11 +13,9 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_evaluator_utils</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
-  <depend>autoware_route_handler</depend>
   <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>eigen</depend>
diff --git a/evaluator/autoware_planning_evaluator/src/metrics/metrics_utils.cpp b/evaluator/autoware_planning_evaluator/src/metrics/metrics_utils.cpp
index 669afdd7229b0..e17cfd98b27da 100644
--- a/evaluator/autoware_planning_evaluator/src/metrics/metrics_utils.cpp
+++ b/evaluator/autoware_planning_evaluator/src/metrics/metrics_utils.cpp
@@ -30,8 +30,9 @@ size_t getIndexAfterDistance(const Trajectory & traj, const size_t curr_id, cons
   const TrajectoryPoint & curr_p = traj.points.at(curr_id);
 
   size_t target_id = curr_id;
+  double current_distance = 0.0;
   for (size_t traj_id = curr_id + 1; traj_id < traj.points.size(); ++traj_id) {
-    double current_distance = calcDistance2d(traj.points.at(traj_id), curr_p);
+    current_distance = calcDistance2d(traj.points.at(traj_id), curr_p);
     if (current_distance >= distance) {
       target_id = traj_id;
       break;
diff --git a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp
index e87d8e124f490..103e14c73f26d 100644
--- a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp
+++ b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp
@@ -14,16 +14,8 @@
 
 #include "autoware/planning_evaluator/planning_evaluator_node.hpp"
 
-#include "autoware/evaluator_utils/evaluator_utils.hpp"
-
-#include <autoware_lanelet2_extension/utility/query.hpp>
-#include <autoware_lanelet2_extension/utility/utilities.hpp>
-
-#include <diagnostic_msgs/msg/detail/diagnostic_status__struct.hpp>
-
 #include "boost/lexical_cast.hpp"
 
-#include <algorithm>
 #include <fstream>
 #include <iostream>
 #include <map>
@@ -71,9 +63,6 @@ PlanningEvaluatorNode::PlanningEvaluatorNode(const rclcpp::NodeOptions & node_op
   output_file_str_ = declare_parameter<std::string>("output_file");
   ego_frame_str_ = declare_parameter<std::string>("ego_frame");
 
-  planning_diag_sub_ = create_subscription<DiagnosticArray>(
-    "~/input/diagnostics", 1, std::bind(&PlanningEvaluatorNode::onDiagnostics, this, _1));
-
   // List of metrics to calculate and publish
   metrics_pub_ = create_publisher<DiagnosticArray>("~/metrics", 1);
   for (const std::string & selected_metric :
@@ -116,121 +105,6 @@ PlanningEvaluatorNode::~PlanningEvaluatorNode()
   }
 }
 
-void PlanningEvaluatorNode::onDiagnostics(const DiagnosticArray::ConstSharedPtr diag_msg)
-{
-  // add target diagnostics to the queue and remove old ones
-  for (const auto & function : target_functions_) {
-    autoware::evaluator_utils::updateDiagnosticQueue(*diag_msg, function, now(), diag_queue_);
-  }
-}
-
-DiagnosticStatus PlanningEvaluatorNode::generateDiagnosticEvaluationStatus(
-  const DiagnosticStatus & diag)
-{
-  DiagnosticStatus status;
-  status.name = diag.name;
-
-  const auto it = std::find_if(diag.values.begin(), diag.values.end(), [](const auto & key_value) {
-    return key_value.key.find("decision") != std::string::npos;
-  });
-  const bool found = it != diag.values.end();
-  status.level = (found) ? status.OK : status.ERROR;
-  status.values.push_back((found) ? *it : diagnostic_msgs::msg::KeyValue{});
-  return status;
-}
-
-void PlanningEvaluatorNode::getRouteData()
-{
-  // route
-  {
-    const auto msg = route_subscriber_.takeNewData();
-    if (msg) {
-      if (msg->segments.empty()) {
-        RCLCPP_ERROR(get_logger(), "input route is empty. ignored");
-      } else {
-        route_handler_.setRoute(*msg);
-      }
-    }
-  }
-
-  // map
-  {
-    const auto msg = vector_map_subscriber_.takeNewData();
-    if (msg) {
-      route_handler_.setMap(*msg);
-    }
-  }
-}
-
-DiagnosticStatus PlanningEvaluatorNode::generateLaneletDiagnosticStatus(
-  const Odometry::ConstSharedPtr ego_state_ptr)
-{
-  const auto & ego_pose = ego_state_ptr->pose.pose;
-  const auto current_lanelets = [&]() {
-    lanelet::ConstLanelet closest_route_lanelet;
-    route_handler_.getClosestLaneletWithinRoute(ego_pose, &closest_route_lanelet);
-    const auto shoulder_lanelets = route_handler_.getShoulderLaneletsAtPose(ego_pose);
-    lanelet::ConstLanelets closest_lanelets{closest_route_lanelet};
-    closest_lanelets.insert(
-      closest_lanelets.end(), shoulder_lanelets.begin(), shoulder_lanelets.end());
-    return closest_lanelets;
-  }();
-  const auto arc_coordinates = lanelet::utils::getArcCoordinates(current_lanelets, ego_pose);
-  lanelet::ConstLanelet current_lane;
-  lanelet::utils::query::getClosestLanelet(current_lanelets, ego_pose, &current_lane);
-
-  DiagnosticStatus status;
-  status.name = "ego_lane_info";
-  status.level = status.OK;
-  diagnostic_msgs::msg::KeyValue key_value;
-  key_value.key = "lane_id";
-  key_value.value = std::to_string(current_lane.id());
-  status.values.push_back(key_value);
-  key_value.key = "s";
-  key_value.value = std::to_string(arc_coordinates.length);
-  status.values.push_back(key_value);
-  key_value.key = "t";
-  key_value.value = std::to_string(arc_coordinates.distance);
-  status.values.push_back(key_value);
-  return status;
-}
-
-DiagnosticStatus PlanningEvaluatorNode::generateKinematicStateDiagnosticStatus(
-  const AccelWithCovarianceStamped & accel_stamped, const Odometry::ConstSharedPtr ego_state_ptr)
-{
-  DiagnosticStatus status;
-  status.name = "kinematic_state";
-  status.level = status.OK;
-  diagnostic_msgs::msg::KeyValue key_value;
-  key_value.key = "vel";
-  key_value.value = std::to_string(ego_state_ptr->twist.twist.linear.x);
-  status.values.push_back(key_value);
-  key_value.key = "acc";
-  const auto & acc = accel_stamped.accel.accel.linear.x;
-  key_value.value = std::to_string(acc);
-  status.values.push_back(key_value);
-  key_value.key = "jerk";
-  const auto jerk = [&]() {
-    if (!prev_acc_stamped_.has_value()) {
-      prev_acc_stamped_ = accel_stamped;
-      return 0.0;
-    }
-    const auto t = static_cast<double>(accel_stamped.header.stamp.sec) +
-                   static_cast<double>(accel_stamped.header.stamp.nanosec) * 1e-9;
-    const auto prev_t = static_cast<double>(prev_acc_stamped_.value().header.stamp.sec) +
-                        static_cast<double>(prev_acc_stamped_.value().header.stamp.nanosec) * 1e-9;
-    const auto dt = t - prev_t;
-    if (dt < std::numeric_limits<double>::epsilon()) return 0.0;
-
-    const auto prev_acc = prev_acc_stamped_.value().accel.accel.linear.x;
-    prev_acc_stamped_ = accel_stamped;
-    return (acc - prev_acc) / dt;
-  }();
-  key_value.value = std::to_string(jerk);
-  status.values.push_back(key_value);
-  return status;
-}
-
 DiagnosticStatus PlanningEvaluatorNode::generateDiagnosticStatus(
   const Metric & metric, const Stat<double> & metric_stat) const
 {
@@ -252,55 +126,7 @@ DiagnosticStatus PlanningEvaluatorNode::generateDiagnosticStatus(
 
 void PlanningEvaluatorNode::onTrajectory(const Trajectory::ConstSharedPtr traj_msg)
 {
-  metrics_msg_.header.stamp = now();
-
-  const auto ego_state_ptr = odometry_sub_.takeData();
-  onOdometry(ego_state_ptr);
-  {
-    const auto objects_msg = objects_sub_.takeData();
-    onObjects(objects_msg);
-  }
-
-  {
-    const auto ref_traj_msg = ref_sub_.takeData();
-    onReferenceTrajectory(ref_traj_msg);
-  }
-
-  {
-    const auto traj_msg = traj_sub_.takeData();
-    onTrajectory(traj_msg, ego_state_ptr);
-  }
-  {
-    const auto modified_goal_msg = modified_goal_sub_.takeData();
-    onModifiedGoal(modified_goal_msg, ego_state_ptr);
-  }
-
-  {
-    // generate decision diagnostics from input diagnostics
-    for (const auto & function : target_functions_) {
-      const auto it = std::find_if(
-        diag_queue_.begin(), diag_queue_.end(),
-        [&function](const std::pair<diagnostic_msgs::msg::DiagnosticStatus, rclcpp::Time> & p) {
-          return p.first.name.find(function) != std::string::npos;
-        });
-      if (it == diag_queue_.end()) {
-        continue;
-      }
-      // generate each decision diagnostics
-      metrics_msg_.status.push_back(generateDiagnosticEvaluationStatus(it->first));
-    }
-  }
-
-  if (!metrics_msg_.status.empty()) {
-    metrics_pub_->publish(metrics_msg_);
-  }
-  metrics_msg_ = DiagnosticArray{};
-}
-
-void PlanningEvaluatorNode::onTrajectory(
-  const Trajectory::ConstSharedPtr traj_msg, const Odometry::ConstSharedPtr ego_state_ptr)
-{
-  if (!ego_state_ptr || !traj_msg) {
+  if (!ego_state_ptr_) {
     return;
   }
 
@@ -346,25 +172,6 @@ void PlanningEvaluatorNode::onOdometry(const Odometry::ConstSharedPtr odometry_m
 {
   ego_state_ptr_ = odometry_msg;
   metrics_calculator_.setEgoPose(odometry_msg->pose.pose);
-  {
-    DiagnosticArray metrics_msg;
-    metrics_msg.header.stamp = now();
-
-    getRouteData();
-    if (route_handler_.isHandlerReady() && ego_state_ptr_) {
-      metrics_msg.status.push_back(generateLaneletDiagnosticStatus());
-    }
-
-    const auto acc = accel_sub_.takeData();
-
-    if (acc && ego_state_ptr_) {
-      metrics_msg.status.push_back(generateKinematicStateDiagnosticStatus(*acc));
-    }
-
-    if (!metrics_msg.status.empty()) {
-      metrics_pub_->publish(metrics_msg);
-    }
-  }
 
   if (modified_goal_ptr_) {
     publishModifiedGoalDeviationMetrics();