diff --git a/tier4_auto_msgs_converter/package.xml b/tier4_auto_msgs_converter/package.xml
index 50a55eb8..ea4d624f 100644
--- a/tier4_auto_msgs_converter/package.xml
+++ b/tier4_auto_msgs_converter/package.xml
@@ -13,6 +13,7 @@
   <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_auto_system_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>tier4_external_api_msgs</depend>
   <depend>tier4_perception_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>tier4_system_msgs</depend>
diff --git a/tier4_control_msgs/CMakeLists.txt b/tier4_control_msgs/CMakeLists.txt
index 95f272d5..10dfaa50 100644
--- a/tier4_control_msgs/CMakeLists.txt
+++ b/tier4_control_msgs/CMakeLists.txt
@@ -23,7 +23,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/SetPause.srv"
   DEPENDENCIES
     autoware_common_msgs
-    std_msgs
+    builtin_interfaces
 )
 
 if(BUILD_TESTING)
diff --git a/tier4_control_msgs/package.xml b/tier4_control_msgs/package.xml
index 045c43cf..5b761b3b 100644
--- a/tier4_control_msgs/package.xml
+++ b/tier4_control_msgs/package.xml
@@ -12,7 +12,7 @@
   <build_depend>rosidl_default_generators</build_depend>
 
   <depend>autoware_common_msgs</depend>
-  <depend>std_msgs</depend>
+  <depend>builtin_interfaces</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>
 
diff --git a/tier4_localization_msgs/package.xml b/tier4_localization_msgs/package.xml
index 960d37f0..643d063a 100644
--- a/tier4_localization_msgs/package.xml
+++ b/tier4_localization_msgs/package.xml
@@ -11,7 +11,6 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
-  <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>
diff --git a/tier4_perception_msgs/package.xml b/tier4_perception_msgs/package.xml
index 36776fbb..af603c0b 100644
--- a/tier4_perception_msgs/package.xml
+++ b/tier4_perception_msgs/package.xml
@@ -12,7 +12,6 @@
   <build_depend>rosidl_default_generators</build_depend>
 
   <depend>autoware_auto_perception_msgs</depend>
-  <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
diff --git a/tier4_planning_msgs/CMakeLists.txt b/tier4_planning_msgs/CMakeLists.txt
index 405d02d9..d3d87862 100644
--- a/tier4_planning_msgs/CMakeLists.txt
+++ b/tier4_planning_msgs/CMakeLists.txt
@@ -46,7 +46,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
     geometry_msgs
     nav_msgs
     std_msgs
-    unique_identifier_msgs
 )
 
 if(BUILD_TESTING)
diff --git a/tier4_planning_msgs/package.xml b/tier4_planning_msgs/package.xml
index af298efc..13656a87 100644
--- a/tier4_planning_msgs/package.xml
+++ b/tier4_planning_msgs/package.xml
@@ -15,7 +15,6 @@
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>std_msgs</depend>
-  <depend>unique_identifier_msgs</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>
 
diff --git a/tier4_simulation_msgs/CMakeLists.txt b/tier4_simulation_msgs/CMakeLists.txt
index de8e38a0..d32367b3 100644
--- a/tier4_simulation_msgs/CMakeLists.txt
+++ b/tier4_simulation_msgs/CMakeLists.txt
@@ -20,7 +20,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   msg/SimulationEvents.msg
   msg/UserDefinedValue.msg
   msg/UserDefinedValueType.msg
-  DEPENDENCIES builtin_interfaces std_msgs)
+  DEPENDENCIES
+    builtin_interfaces
+)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/tier4_simulation_msgs/package.xml b/tier4_simulation_msgs/package.xml
index e90d19e0..60d06be4 100644
--- a/tier4_simulation_msgs/package.xml
+++ b/tier4_simulation_msgs/package.xml
@@ -13,7 +13,6 @@
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <depend>builtin_interfaces</depend>
-  <depend>std_msgs</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>
 
diff --git a/tier4_v2x_msgs/CMakeLists.txt b/tier4_v2x_msgs/CMakeLists.txt
index 013cabf7..f52dd8b7 100644
--- a/tier4_v2x_msgs/CMakeLists.txt
+++ b/tier4_v2x_msgs/CMakeLists.txt
@@ -21,7 +21,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/VirtualTrafficLightState.msg"
   "msg/VirtualTrafficLightStateArray.msg"
   DEPENDENCIES
-    std_msgs
+    builtin_interfaces
 )
 
 if(BUILD_TESTING)
diff --git a/tier4_v2x_msgs/package.xml b/tier4_v2x_msgs/package.xml
index d39a78e5..3fa69e79 100644
--- a/tier4_v2x_msgs/package.xml
+++ b/tier4_v2x_msgs/package.xml
@@ -12,7 +12,6 @@
   <build_depend>rosidl_default_generators</build_depend>
 
   <depend>builtin_interfaces</depend>
-  <depend>std_msgs</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>
 
diff --git a/tier4_vehicle_msgs/CMakeLists.txt b/tier4_vehicle_msgs/CMakeLists.txt
index e7cefb94..68061328 100644
--- a/tier4_vehicle_msgs/CMakeLists.txt
+++ b/tier4_vehicle_msgs/CMakeLists.txt
@@ -25,7 +25,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/SteeringWheelStatusStamped.msg"
   "msg/VehicleEmergencyStamped.msg"
   "srv/UpdateAccelBrakeMap.srv"
-  DEPENDENCIES std_msgs geometry_msgs tier4_control_msgs
+  DEPENDENCIES
+    std_msgs
 )
 
 if(BUILD_TESTING)
diff --git a/tier4_vehicle_msgs/package.xml b/tier4_vehicle_msgs/package.xml
index 40b1d2c3..cd048976 100644
--- a/tier4_vehicle_msgs/package.xml
+++ b/tier4_vehicle_msgs/package.xml
@@ -11,9 +11,7 @@
 
   <build_depend>rosidl_default_generators</build_depend>
 
-  <depend>geometry_msgs</depend>
   <depend>std_msgs</depend>
-  <depend>tier4_control_msgs</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>