diff --git a/autoware_utils/include/autoware_utils/ros/uuid_helper.hpp b/autoware_utils/include/autoware_utils/ros/uuid_helper.hpp
new file mode 100644
index 0000000..d25ef09
--- /dev/null
+++ b/autoware_utils/include/autoware_utils/ros/uuid_helper.hpp
@@ -0,0 +1,28 @@
+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE_UTILS__ROS__UUID_HELPER_HPP_
+#define AUTOWARE_UTILS__ROS__UUID_HELPER_HPP_
+
+// NOLINTBEGIN(build/namespaces, whitespace/line_length)
+// clang-format off
+
+#pragma message("#include <autoware_utils/ros/uuid_helper.hpp> is deprecated. Use #include <autoware_utils_uuid/uuid_helper.hpp> instead.")
+#include <autoware_utils_uuid/uuid_helper.hpp>
+namespace autoware_utils { using namespace autoware_utils_uuid; }
+
+// clang-format on
+// NOLINTEND
+
+#endif  // AUTOWARE_UTILS__ROS__UUID_HELPER_HPP_
diff --git a/autoware_utils/package.xml b/autoware_utils/package.xml
index 7e9bc20..7ce6bf4 100644
--- a/autoware_utils/package.xml
+++ b/autoware_utils/package.xml
@@ -21,6 +21,7 @@
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_utils_geometry</depend>
   <depend>autoware_utils_pcl</depend>
+  <depend>autoware_utils_uuid</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>diagnostic_msgs</depend>