diff --git a/common/motion_utils/include/motion_utils/vehicle/vehicle_state_checker.hpp b/common/motion_utils/include/motion_utils/vehicle/vehicle_state_checker.hpp
index f5f423f881ba2..6a9bd01a5a9a0 100644
--- a/common/motion_utils/include/motion_utils/vehicle/vehicle_state_checker.hpp
+++ b/common/motion_utils/include/motion_utils/vehicle/vehicle_state_checker.hpp
@@ -55,11 +55,11 @@ class VehicleStopChecker : public VehicleStopCheckerBase
 
 protected:
   rclcpp::Subscription<Odometry>::SharedPtr sub_odom_;
-  Odometry::SharedPtr odometry_ptr_;
+  Odometry::ConstSharedPtr odometry_ptr_;
 
 private:
   static constexpr double velocity_buffer_time_sec = 10.0;
-  void onOdom(const Odometry::SharedPtr msg);
+  void onOdom(const Odometry::ConstSharedPtr msg);
 };
 
 class VehicleArrivalChecker : public VehicleStopChecker
@@ -74,9 +74,9 @@ class VehicleArrivalChecker : public VehicleStopChecker
 
   rclcpp::Subscription<Trajectory>::SharedPtr sub_trajectory_;
 
-  Trajectory::SharedPtr trajectory_ptr_;
+  Trajectory::ConstSharedPtr trajectory_ptr_;
 
-  void onTrajectory(const Trajectory::SharedPtr msg);
+  void onTrajectory(const Trajectory::ConstSharedPtr msg);
 };
 }  // namespace motion_utils
 
diff --git a/common/motion_utils/src/vehicle/vehicle_state_checker.cpp b/common/motion_utils/src/vehicle/vehicle_state_checker.cpp
index 6ed9472d39e0f..194c49ae3bff8 100644
--- a/common/motion_utils/src/vehicle/vehicle_state_checker.cpp
+++ b/common/motion_utils/src/vehicle/vehicle_state_checker.cpp
@@ -88,7 +88,7 @@ VehicleStopChecker::VehicleStopChecker(rclcpp::Node * node)
     std::bind(&VehicleStopChecker::onOdom, this, _1));
 }
 
-void VehicleStopChecker::onOdom(const Odometry::SharedPtr msg)
+void VehicleStopChecker::onOdom(const Odometry::ConstSharedPtr msg)
 {
   odometry_ptr_ = msg;
 
@@ -128,7 +128,7 @@ bool VehicleArrivalChecker::isVehicleStoppedAtStopPoint(const double stop_durati
          th_arrived_distance_m;
 }
 
-void VehicleArrivalChecker::onTrajectory(const Trajectory::SharedPtr msg)
+void VehicleArrivalChecker::onTrajectory(const Trajectory::ConstSharedPtr msg)
 {
   trajectory_ptr_ = msg;
 }