diff --git a/autoware_iv_external_api_adaptor/package.xml b/autoware_iv_external_api_adaptor/package.xml
index 1e0a952..508da09 100644
--- a/autoware_iv_external_api_adaptor/package.xml
+++ b/autoware_iv_external_api_adaptor/package.xml
@@ -11,10 +11,10 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_ad_api_specs</depend>
-  <depend>autoware_auto_control_msgs</depend>
-  <depend>autoware_auto_system_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_control_msgs</depend>
   <depend>autoware_external_api_msgs</depend>
+  <depend>autoware_system_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>nlohmann-json-dev</depend>
diff --git a/autoware_iv_external_api_adaptor/src/engage.cpp b/autoware_iv_external_api_adaptor/src/engage.cpp
index cbc5276..de123d3 100644
--- a/autoware_iv_external_api_adaptor/src/engage.cpp
+++ b/autoware_iv_external_api_adaptor/src/engage.cpp
@@ -35,9 +35,9 @@ Engage::Engage(const rclcpp::NodeOptions & options) : Node("external_api_engage"
     "/api/autoware/set/operator", rmw_qos_profile_services_default);
   pub_engage_status_ = create_publisher<tier4_external_api_msgs::msg::EngageStatus>(
     "/api/external/get/engage", rclcpp::QoS(1));
-  sub_engage_status_ = create_subscription<autoware_auto_vehicle_msgs::msg::Engage>(
+  sub_engage_status_ = create_subscription<autoware_vehicle_msgs::msg::Engage>(
     "/api/autoware/get/engage", rclcpp::QoS(1), std::bind(&Engage::onEngageStatus, this, _1));
-  sub_autoware_state_ = create_subscription<autoware_auto_system_msgs::msg::AutowareState>(
+  sub_autoware_state_ = create_subscription<autoware_system_msgs::msg::AutowareState>(
     "/autoware/state", rclcpp::QoS(1), std::bind(&Engage::onAutowareState, this, _1));
 
   waiting_for_engage_ = false;
@@ -78,7 +78,7 @@ void Engage::setEngage(
   response->status = resp->status;
 }
 
-void Engage::onEngageStatus(const autoware_auto_vehicle_msgs::msg::Engage::SharedPtr message)
+void Engage::onEngageStatus(const autoware_vehicle_msgs::msg::Engage::SharedPtr message)
 {
   auto msg = tier4_external_api_msgs::build<tier4_external_api_msgs::msg::EngageStatus>()
                .stamp(message->stamp)
@@ -86,9 +86,9 @@ void Engage::onEngageStatus(const autoware_auto_vehicle_msgs::msg::Engage::Share
   pub_engage_status_->publish(msg);
 }
 
-void Engage::onAutowareState(const autoware_auto_system_msgs::msg::AutowareState::SharedPtr message)
+void Engage::onAutowareState(const autoware_system_msgs::msg::AutowareState::SharedPtr message)
 {
-  using autoware_auto_system_msgs::msg::AutowareState;
+  using autoware_system_msgs::msg::AutowareState;
   waiting_for_engage_ = (message->state == AutowareState::WAITING_FOR_ENGAGE);
   driving_ = (message->state == AutowareState::DRIVING);
 }
diff --git a/autoware_iv_external_api_adaptor/src/engage.hpp b/autoware_iv_external_api_adaptor/src/engage.hpp
index 8a22dfd..0a7a174 100644
--- a/autoware_iv_external_api_adaptor/src/engage.hpp
+++ b/autoware_iv_external_api_adaptor/src/engage.hpp
@@ -18,8 +18,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "tier4_api_utils/tier4_api_utils.hpp"
 
-#include "autoware_auto_system_msgs/msg/autoware_state.hpp"
-#include "autoware_auto_vehicle_msgs/msg/engage.hpp"
+#include "autoware_system_msgs/msg/autoware_state.hpp"
+#include "autoware_vehicle_msgs/msg/engage.hpp"
 #include "tier4_external_api_msgs/msg/engage_status.hpp"
 #include "tier4_external_api_msgs/srv/engage.hpp"
 #include "tier4_external_api_msgs/srv/set_operator.hpp"
@@ -36,8 +36,8 @@ class Engage : public rclcpp::Node
   using ExternalEngage = tier4_external_api_msgs::srv::Engage;
   using ExternalEngageStatus = tier4_external_api_msgs::msg::EngageStatus;
   using SetOperator = tier4_external_api_msgs::srv::SetOperator;
-  using VehicleEngageStatus = autoware_auto_vehicle_msgs::msg::Engage;
-  using AutowareState = autoware_auto_system_msgs::msg::AutowareState;
+  using VehicleEngageStatus = autoware_vehicle_msgs::msg::Engage;
+  using AutowareState = autoware_system_msgs::msg::AutowareState;
 
   // ros interface
   rclcpp::CallbackGroup::SharedPtr group_;
@@ -57,8 +57,8 @@ class Engage : public rclcpp::Node
   void setEngage(
     const tier4_external_api_msgs::srv::Engage::Request::SharedPtr request,
     const tier4_external_api_msgs::srv::Engage::Response::SharedPtr response);
-  void onEngageStatus(const autoware_auto_vehicle_msgs::msg::Engage::SharedPtr message);
-  void onAutowareState(const autoware_auto_system_msgs::msg::AutowareState::SharedPtr message);
+  void onEngageStatus(const autoware_vehicle_msgs::msg::Engage::SharedPtr message);
+  void onAutowareState(const autoware_system_msgs::msg::AutowareState::SharedPtr message);
 };
 
 }  // namespace external_api
diff --git a/autoware_iv_external_api_adaptor/src/route.hpp b/autoware_iv_external_api_adaptor/src/route.hpp
index 817bc6f..fe32e19 100644
--- a/autoware_iv_external_api_adaptor/src/route.hpp
+++ b/autoware_iv_external_api_adaptor/src/route.hpp
@@ -20,7 +20,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "tier4_api_utils/tier4_api_utils.hpp"
 
-#include "autoware_auto_system_msgs/msg/autoware_state.hpp"
+#include "autoware_system_msgs/msg/autoware_state.hpp"
 #include "tier4_external_api_msgs/msg/route.hpp"
 #include "tier4_external_api_msgs/srv/clear_route.hpp"
 #include "tier4_external_api_msgs/srv/set_route.hpp"
@@ -37,7 +37,7 @@ class Route : public rclcpp::Node
   using SetRoute = tier4_external_api_msgs::srv::SetRoute;
   using ClearRoute = tier4_external_api_msgs::srv::ClearRoute;
   using RouteMsg = tier4_external_api_msgs::msg::Route;
-  using AutowareState = autoware_auto_system_msgs::msg::AutowareState;
+  using AutowareState = autoware_system_msgs::msg::AutowareState;
 
   // ros interface
   rclcpp::CallbackGroup::SharedPtr group_;
diff --git a/autoware_iv_external_api_adaptor/src/vehicle_status.cpp b/autoware_iv_external_api_adaptor/src/vehicle_status.cpp
index 121f0be..a84850d 100644
--- a/autoware_iv_external_api_adaptor/src/vehicle_status.cpp
+++ b/autoware_iv_external_api_adaptor/src/vehicle_status.cpp
@@ -80,40 +80,40 @@ VehicleStatus::VehicleStatus(const rclcpp::NodeOptions & options)
     "/api/external/get/vehicle/status", rclcpp::QoS(1));
   timer_ = rclcpp::create_timer(this, get_clock(), 200ms, std::bind(&VehicleStatus::onTimer, this));
 
-  sub_velocity_ = create_subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>(
+  sub_velocity_ = create_subscription<autoware_vehicle_msgs::msg::VelocityReport>(
     "/vehicle/status/velocity_status", rclcpp::QoS(1),
-    [this](const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr msg) {
+    [this](const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr msg) {
       velocity_ = msg;
     });
-  sub_steering_ = create_subscription<autoware_auto_vehicle_msgs::msg::SteeringReport>(
+  sub_steering_ = create_subscription<autoware_vehicle_msgs::msg::SteeringReport>(
     "/vehicle/status/steering_status", rclcpp::QoS(1),
-    [this](const autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr msg) {
+    [this](const autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr msg) {
       steering_ = msg;
     });
-  sub_turn_indicators_ = create_subscription<autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport>(
+  sub_turn_indicators_ = create_subscription<autoware_vehicle_msgs::msg::TurnIndicatorsReport>(
     "/vehicle/status/turn_indicators_status", rclcpp::QoS(1),
-    [this](const autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr msg) {
+    [this](const autoware_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr msg) {
       turn_indicators_ = msg;
     });
-  sub_hazard_lights_ = create_subscription<autoware_auto_vehicle_msgs::msg::HazardLightsReport>(
+  sub_hazard_lights_ = create_subscription<autoware_vehicle_msgs::msg::HazardLightsReport>(
     "/vehicle/status/hazard_lights_status", rclcpp::QoS(1),
-    [this](const autoware_auto_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr msg) {
+    [this](const autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr msg) {
       hazard_lights_ = msg;
     });
-  sub_gear_shift_ = create_subscription<autoware_auto_vehicle_msgs::msg::GearReport>(
+  sub_gear_shift_ = create_subscription<autoware_vehicle_msgs::msg::GearReport>(
     "/vehicle/status/gear_status", rclcpp::QoS(1),
-    [this](const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr msg) {
+    [this](const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr msg) {
       gear_shift_ = msg;
     });
 
   pub_cmd_ = create_publisher<tier4_external_api_msgs::msg::VehicleCommandStamped>(
     "/api/external/get/command/selected/vehicle", rclcpp::QoS(1));
-  sub_cmd_ = create_subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>(
+  sub_cmd_ = create_subscription<autoware_control_msgs::msg::Control>(
     "/control/command/control_cmd", rclcpp::QoS(1),
-    [this](const autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr msg) {
+    [this](const autoware_control_msgs::msg::Control::ConstSharedPtr msg) {
       tier4_external_api_msgs::msg::VehicleCommandStamped cmd;
       cmd.stamp = msg->stamp;
-      cmd.command.velocity = msg->longitudinal.speed;
+      cmd.command.velocity = msg->longitudinal.velocity;
       cmd.command.acceleration = msg->longitudinal.acceleration;
       pub_cmd_->publish(cmd);
     });
diff --git a/autoware_iv_external_api_adaptor/src/vehicle_status.hpp b/autoware_iv_external_api_adaptor/src/vehicle_status.hpp
index e69ddbc..247cb2d 100644
--- a/autoware_iv_external_api_adaptor/src/vehicle_status.hpp
+++ b/autoware_iv_external_api_adaptor/src/vehicle_status.hpp
@@ -18,12 +18,12 @@
 #include "rclcpp/rclcpp.hpp"
 #include "tier4_api_utils/tier4_api_utils.hpp"
 
-#include "autoware_auto_control_msgs/msg/ackermann_control_command.hpp"
-#include "autoware_auto_vehicle_msgs/msg/gear_report.hpp"
-#include "autoware_auto_vehicle_msgs/msg/hazard_lights_report.hpp"
-#include "autoware_auto_vehicle_msgs/msg/steering_report.hpp"
-#include "autoware_auto_vehicle_msgs/msg/turn_indicators_report.hpp"
-#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
+#include "autoware_control_msgs/msg/control.hpp"
+#include "autoware_vehicle_msgs/msg/gear_report.hpp"
+#include "autoware_vehicle_msgs/msg/hazard_lights_report.hpp"
+#include "autoware_vehicle_msgs/msg/steering_report.hpp"
+#include "autoware_vehicle_msgs/msg/turn_indicators_report.hpp"
+#include "autoware_vehicle_msgs/msg/velocity_report.hpp"
 #include "tier4_external_api_msgs/msg/vehicle_command_stamped.hpp"
 #include "tier4_external_api_msgs/msg/vehicle_status_stamped.hpp"
 
@@ -39,28 +39,27 @@ class VehicleStatus : public rclcpp::Node
   // ros interface for vehicle status
   rclcpp::Publisher<tier4_external_api_msgs::msg::VehicleStatusStamped>::SharedPtr pub_status_;
   rclcpp::TimerBase::SharedPtr timer_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>::SharedPtr sub_velocity_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::SteeringReport>::SharedPtr sub_steering_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::VelocityReport>::SharedPtr sub_velocity_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::SteeringReport>::SharedPtr sub_steering_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
     sub_turn_indicators_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::HazardLightsReport>::SharedPtr
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::HazardLightsReport>::SharedPtr
     sub_hazard_lights_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::GearReport>::SharedPtr sub_gear_shift_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::GearReport>::SharedPtr sub_gear_shift_;
 
   // ros interface for vehicle command
   rclcpp::Publisher<tier4_external_api_msgs::msg::VehicleCommandStamped>::SharedPtr pub_cmd_;
-  rclcpp::Subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>::SharedPtr
-    sub_cmd_;
+  rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr sub_cmd_;
 
   // ros callback
   void onTimer();
 
   // vehicle status
-  autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr velocity_;
-  autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr steering_;
-  autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr turn_indicators_;
-  autoware_auto_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr hazard_lights_;
-  autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr gear_shift_;
+  autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr velocity_;
+  autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr steering_;
+  autoware_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr turn_indicators_;
+  autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr hazard_lights_;
+  autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr gear_shift_;
 };
 
 }  // namespace external_api
diff --git a/autoware_iv_internal_api_adaptor/launch/internal_api_relay.launch.xml b/autoware_iv_internal_api_adaptor/launch/internal_api_relay.launch.xml
index e850fb3..d49b50c 100644
--- a/autoware_iv_internal_api_adaptor/launch/internal_api_relay.launch.xml
+++ b/autoware_iv_internal_api_adaptor/launch/internal_api_relay.launch.xml
@@ -4,7 +4,7 @@
     <node pkg="topic_tools" exec="relay" name="traffic_signals">
       <param name="input_topic" value="/api/autoware/set/traffic_signals"/>
       <param name="output_topic" value="/external/traffic_light_recognition/traffic_signals"/>
-      <param name="type" value="autoware_auto_perception_msgs/msg/TrafficSignalArray"/>
+      <param name="type" value="autoware_perception_msgs/msg/TrafficSignalArray"/>
     </node>
     <node pkg="topic_tools" exec="relay" name="intersection_states">
       <param name="input_topic" value="/api/autoware/set/intersection_states"/>
diff --git a/autoware_iv_internal_api_adaptor/package.xml b/autoware_iv_internal_api_adaptor/package.xml
index 41e21d3..df10b0a 100644
--- a/autoware_iv_internal_api_adaptor/package.xml
+++ b/autoware_iv_internal_api_adaptor/package.xml
@@ -11,10 +11,10 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
-  <depend>autoware_auto_perception_msgs</depend>
-  <depend>autoware_auto_planning_msgs</depend>
-  <depend>autoware_auto_system_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
+  <depend>autoware_system_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/autoware_iv_internal_api_adaptor/src/iv_msgs.hpp b/autoware_iv_internal_api_adaptor/src/iv_msgs.hpp
index 35558f7..5d41135 100644
--- a/autoware_iv_internal_api_adaptor/src/iv_msgs.hpp
+++ b/autoware_iv_internal_api_adaptor/src/iv_msgs.hpp
@@ -18,10 +18,10 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
-#include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
-#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
-#include <autoware_auto_system_msgs/msg/autoware_state.hpp>
-#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
+#include <autoware_perception_msgs/msg/tracked_objects.hpp>
+#include <autoware_planning_msgs/msg/trajectory.hpp>
+#include <autoware_system_msgs/msg/autoware_state.hpp>
+#include <autoware_vehicle_msgs/msg/control_mode_report.hpp>
 #include <tier4_perception_msgs/msg/dynamic_object_array.hpp>
 #include <tier4_planning_msgs/msg/trajectory.hpp>
 #include <tier4_system_msgs/msg/autoware_state.hpp>
@@ -35,22 +35,22 @@ class IVMsgs : public rclcpp::Node
 
 private:
   using EmergencyStateAuto = autoware_adapi_v1_msgs::msg::MrmState;
-  using AutowareStateAuto = autoware_auto_system_msgs::msg::AutowareState;
+  using AutowareStateAuto = autoware_system_msgs::msg::AutowareState;
   using AutowareStateIV = tier4_system_msgs::msg::AutowareState;
   rclcpp::Subscription<EmergencyStateAuto>::SharedPtr sub_emergency_;
   rclcpp::Subscription<AutowareStateAuto>::SharedPtr sub_state_;
   rclcpp::Publisher<AutowareStateIV>::SharedPtr pub_state_;
 
-  using ControlModeAuto = autoware_auto_vehicle_msgs::msg::ControlModeReport;
+  using ControlModeAuto = autoware_vehicle_msgs::msg::ControlModeReport;
   rclcpp::Subscription<ControlModeAuto>::SharedPtr sub_control_mode_;
   rclcpp::Publisher<ControlModeAuto>::SharedPtr pub_control_mode_;
 
-  using TrajectoryAuto = autoware_auto_planning_msgs::msg::Trajectory;
+  using TrajectoryAuto = autoware_planning_msgs::msg::Trajectory;
   using TrajectoryIV = tier4_planning_msgs::msg::Trajectory;
   rclcpp::Subscription<TrajectoryAuto>::SharedPtr sub_trajectory_;
   rclcpp::Publisher<TrajectoryIV>::SharedPtr pub_trajectory_;
 
-  using TrackedObjectsAuto = autoware_auto_perception_msgs::msg::TrackedObjects;
+  using TrackedObjectsAuto = autoware_perception_msgs::msg::TrackedObjects;
   using DynamicObjectsIV = tier4_perception_msgs::msg::DynamicObjectArray;
   rclcpp::Subscription<TrackedObjectsAuto>::SharedPtr sub_tracked_objects_;
   rclcpp::Publisher<DynamicObjectsIV>::SharedPtr pub_dynamic_objects_;
diff --git a/autoware_iv_internal_api_adaptor/src/operator.cpp b/autoware_iv_internal_api_adaptor/src/operator.cpp
index ce0e47a..7556d8a 100644
--- a/autoware_iv_internal_api_adaptor/src/operator.cpp
+++ b/autoware_iv_internal_api_adaptor/src/operator.cpp
@@ -52,10 +52,9 @@ Operator::Operator(const rclcpp::NodeOptions & options) : Node("external_api_ope
     std::bind(&Operator::onExternalSelect, this, _1));
   sub_gate_mode_ = create_subscription<tier4_control_msgs::msg::GateMode>(
     "/control/current_gate_mode", rclcpp::QoS(1), std::bind(&Operator::onGateMode, this, _1));
-  sub_vehicle_control_mode_ =
-    create_subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>(
-      "/vehicle/status/control_mode", rclcpp::QoS(1),
-      std::bind(&Operator::onVehicleControlMode, this, _1));
+  sub_vehicle_control_mode_ = create_subscription<autoware_vehicle_msgs::msg::ControlModeReport>(
+    "/vehicle/status/control_mode", rclcpp::QoS(1),
+    std::bind(&Operator::onVehicleControlMode, this, _1));
   sub_emergency_ = create_subscription<tier4_external_api_msgs::msg::Emergency>(
     "/api/autoware/get/emergency", 10, std::bind(&Operator::onEmergencyStatus, this, _1));
 
@@ -126,7 +125,7 @@ void Operator::onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPt
 }
 
 void Operator::onVehicleControlMode(
-  const autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr message)
+  const autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr message)
 {
   vehicle_control_mode_ = message;
 }
@@ -151,7 +150,7 @@ void Operator::publishOperator()
     return;
   }
 
-  if (vehicle_control_mode_->mode == autoware_auto_vehicle_msgs::msg::ControlModeReport::MANUAL) {
+  if (vehicle_control_mode_->mode == autoware_vehicle_msgs::msg::ControlModeReport::MANUAL) {
     pub_operator_->publish(build<OperatorMsg>().mode(OperatorMsg::DRIVER));
     return;
   }
diff --git a/autoware_iv_internal_api_adaptor/src/operator.hpp b/autoware_iv_internal_api_adaptor/src/operator.hpp
index 2386f84..0c41bca 100644
--- a/autoware_iv_internal_api_adaptor/src/operator.hpp
+++ b/autoware_iv_internal_api_adaptor/src/operator.hpp
@@ -18,7 +18,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_api_utils/tier4_api_utils.hpp>
 
-#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
+#include <autoware_vehicle_msgs/msg/control_mode_report.hpp>
 #include <tier4_control_msgs/msg/external_command_selector_mode.hpp>
 #include <tier4_control_msgs/msg/gate_mode.hpp>
 #include <tier4_control_msgs/srv/external_command_select.hpp>
@@ -44,7 +44,7 @@ class Operator : public rclcpp::Node
   using ExternalCommandSelect = tier4_control_msgs::srv::ExternalCommandSelect;
   using ExternalCommandSelectorMode = tier4_control_msgs::msg::ExternalCommandSelectorMode;
   using GateMode = tier4_control_msgs::msg::GateMode;
-  using ControlModeReport = autoware_auto_vehicle_msgs::msg::ControlModeReport;
+  using ControlModeReport = autoware_vehicle_msgs::msg::ControlModeReport;
   using ChangeAutowareControl = tier4_system_msgs::srv::ChangeAutowareControl;
   using ResponseStatus = tier4_external_api_msgs::msg::ResponseStatus;
 
@@ -74,14 +74,14 @@ class Operator : public rclcpp::Node
     const tier4_control_msgs::msg::ExternalCommandSelectorMode::ConstSharedPtr message);
   void onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr message);
   void onVehicleControlMode(
-    const autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr message);
+    const autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr message);
   void onEmergencyStatus(const tier4_external_api_msgs::msg::Emergency::ConstSharedPtr msg);
   void onTimer();
 
   // class field
   tier4_control_msgs::msg::ExternalCommandSelectorMode::ConstSharedPtr external_select_;
   tier4_control_msgs::msg::GateMode::ConstSharedPtr gate_mode_;
-  autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr vehicle_control_mode_;
+  autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr vehicle_control_mode_;
   tier4_external_api_msgs::msg::Emergency::ConstSharedPtr emergency_status_;
   bool send_engage_in_emergency_;
 
diff --git a/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_autoware_state_publisher.hpp b/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_autoware_state_publisher.hpp
index 47bb1e0..8c64d81 100644
--- a/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_autoware_state_publisher.hpp
+++ b/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_autoware_state_publisher.hpp
@@ -49,7 +49,7 @@ class AutowareIvAutowareStatePublisher
     const tier4_system_msgs::msg::AutowareState::ConstSharedPtr & autoware_state_ptr,
     tier4_api_msgs::msg::AwapiAutowareStatus * status);
   void getControlModeInfo(
-    const autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr & control_mode_ptr,
+    const autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr & control_mode_ptr,
     tier4_api_msgs::msg::AwapiAutowareStatus * status);
   void getGateModeInfo(
     const tier4_control_msgs::msg::GateMode::ConstSharedPtr & gate_mode_ptr,
diff --git a/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_autoware_util.hpp b/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_autoware_util.hpp
index ebc089e..817da3d 100644
--- a/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_autoware_util.hpp
+++ b/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_autoware_util.hpp
@@ -18,15 +18,15 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
-#include <autoware_auto_planning_msgs/msg/path.hpp>
-#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
-#include <autoware_auto_system_msgs/msg/hazard_status_stamped.hpp>
-#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/gear_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/hazard_lights_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/steering_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/turn_indicators_report.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
+#include <autoware_planning_msgs/msg/path.hpp>
+#include <autoware_planning_msgs/msg/trajectory.hpp>
+#include <autoware_system_msgs/msg/hazard_status_stamped.hpp>
+#include <autoware_vehicle_msgs/msg/control_mode_report.hpp>
+#include <autoware_vehicle_msgs/msg/gear_report.hpp>
+#include <autoware_vehicle_msgs/msg/hazard_lights_report.hpp>
+#include <autoware_vehicle_msgs/msg/steering_report.hpp>
+#include <autoware_vehicle_msgs/msg/turn_indicators_report.hpp>
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
@@ -62,32 +62,32 @@ namespace autoware_api
 struct AutowareInfo
 {
   std::shared_ptr<geometry_msgs::msg::PoseStamped> current_pose_ptr;
-  autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr steer_ptr;
-  autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr vehicle_cmd_ptr;
-  autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr turn_indicators_ptr;
-  autoware_auto_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr hazard_lights_ptr;
+  autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr steer_ptr;
+  autoware_control_msgs::msg::Control::ConstSharedPtr vehicle_cmd_ptr;
+  autoware_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr turn_indicators_ptr;
+  autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr hazard_lights_ptr;
   nav_msgs::msg::Odometry::ConstSharedPtr odometry_ptr;
-  autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr gear_ptr;
+  autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr gear_ptr;
   tier4_vehicle_msgs::msg::BatteryStatus::ConstSharedPtr battery_ptr;
   sensor_msgs::msg::NavSatFix::ConstSharedPtr nav_sat_ptr;
   tier4_system_msgs::msg::AutowareState::ConstSharedPtr autoware_state_ptr;
-  autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr control_mode_ptr;
+  autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr control_mode_ptr;
   tier4_control_msgs::msg::GateMode::ConstSharedPtr gate_mode_ptr;
   autoware_adapi_v1_msgs::msg::MrmState::ConstSharedPtr mrm_state_ptr;
-  autoware_auto_system_msgs::msg::HazardStatusStamped::ConstSharedPtr hazard_status_ptr;
+  autoware_system_msgs::msg::HazardStatusStamped::ConstSharedPtr hazard_status_ptr;
   tier4_planning_msgs::msg::StopReasonArray::ConstSharedPtr stop_reason_ptr;
   tier4_v2x_msgs::msg::InfrastructureCommandArray::ConstSharedPtr v2x_command_ptr;
   tier4_v2x_msgs::msg::VirtualTrafficLightStateArray::ConstSharedPtr v2x_state_ptr;
   diagnostic_msgs::msg::DiagnosticArray::ConstSharedPtr diagnostic_ptr;
   tier4_planning_msgs::msg::LaneChangeStatus::ConstSharedPtr lane_change_available_ptr;
   tier4_planning_msgs::msg::LaneChangeStatus::ConstSharedPtr lane_change_ready_ptr;
-  autoware_auto_planning_msgs::msg::Path::ConstSharedPtr lane_change_candidate_ptr;
+  autoware_planning_msgs::msg::Path::ConstSharedPtr lane_change_candidate_ptr;
   tier4_planning_msgs::msg::IsAvoidancePossible::ConstSharedPtr obstacle_avoid_ready_ptr;
-  autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr obstacle_avoid_candidate_ptr;
+  autoware_planning_msgs::msg::Trajectory::ConstSharedPtr obstacle_avoid_candidate_ptr;
   tier4_api_msgs::msg::VelocityLimit::ConstSharedPtr max_velocity_ptr;
   tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr current_max_velocity_ptr;
   tier4_api_msgs::msg::StopCommand::ConstSharedPtr temporary_stop_ptr;
-  autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr autoware_planning_traj_ptr;
+  autoware_planning_msgs::msg::Trajectory::ConstSharedPtr autoware_planning_traj_ptr;
 };
 
 template <class T>
@@ -120,11 +120,11 @@ double lowpass_filter(const double current_value, const double prev_value, const
 namespace planning_util
 {
 bool calcClosestIndex(
-  const autoware_auto_planning_msgs::msg::Trajectory & traj, const geometry_msgs::msg::Pose & pose,
+  const autoware_planning_msgs::msg::Trajectory & traj, const geometry_msgs::msg::Pose & pose,
   size_t & output_closest_idx, const double dist_thr = 10.0, const double angle_thr = M_PI_4);
 
 inline geometry_msgs::msg::Pose getPose(
-  const autoware_auto_planning_msgs::msg::Trajectory & traj, const int idx)
+  const autoware_planning_msgs::msg::Trajectory & traj, const int idx)
 {
   return traj.points.at(idx).pose;
 }
@@ -137,11 +137,11 @@ inline double calcDist2d(const geometry_msgs::msg::Point & a, const geometry_msg
 double normalizeEulerAngle(double euler);
 
 double calcArcLengthFromWayPoint(
-  const autoware_auto_planning_msgs::msg::Trajectory & input_path, const size_t src_idx,
+  const autoware_planning_msgs::msg::Trajectory & input_path, const size_t src_idx,
   const size_t dst_idx);
 
 double calcDistanceAlongTrajectory(
-  const autoware_auto_planning_msgs::msg::Trajectory & trajectory,
+  const autoware_planning_msgs::msg::Trajectory & trajectory,
   const geometry_msgs::msg::Pose & current_pose, const geometry_msgs::msg::Pose & target_pose);
 
 }  // namespace planning_util
diff --git a/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_awiv_adapter_core.hpp b/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_awiv_adapter_core.hpp
index 9b426c8..6bf1001 100644
--- a/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_awiv_adapter_core.hpp
+++ b/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_awiv_adapter_core.hpp
@@ -27,14 +27,14 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
-#include <autoware_auto_planning_msgs/msg/path.hpp>
-#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
-#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/gear_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/hazard_lights_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/steering_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/turn_indicators_report.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
+#include <autoware_planning_msgs/msg/path.hpp>
+#include <autoware_planning_msgs/msg/trajectory.hpp>
+#include <autoware_vehicle_msgs/msg/control_mode_report.hpp>
+#include <autoware_vehicle_msgs/msg/gear_report.hpp>
+#include <autoware_vehicle_msgs/msg/hazard_lights_report.hpp>
+#include <autoware_vehicle_msgs/msg/steering_report.hpp>
+#include <autoware_vehicle_msgs/msg/turn_indicators_report.hpp>
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/nav_sat_fix.hpp>
@@ -58,23 +58,21 @@ class AutowareIvAdapter : public rclcpp::Node
 
 private:
   // subscriber
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::SteeringReport>::SharedPtr sub_steer_;
-  rclcpp::Subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>::SharedPtr
-    sub_vehicle_cmd_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::SteeringReport>::SharedPtr sub_steer_;
+  rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr sub_vehicle_cmd_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
     sub_turn_indicators_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::HazardLightsReport>::SharedPtr
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::HazardLightsReport>::SharedPtr
     sub_hazard_lights_;
   rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_odometry_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::GearReport>::SharedPtr sub_gear_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::GearReport>::SharedPtr sub_gear_;
   rclcpp::Subscription<tier4_vehicle_msgs::msg::BatteryStatus>::SharedPtr sub_battery_;
   rclcpp::Subscription<sensor_msgs::msg::NavSatFix>::SharedPtr sub_nav_sat_;
   rclcpp::Subscription<tier4_system_msgs::msg::AutowareState>::SharedPtr sub_autoware_state_;
-  rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>::SharedPtr
-    sub_control_mode_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr sub_control_mode_;
   rclcpp::Subscription<tier4_control_msgs::msg::GateMode>::SharedPtr sub_gate_mode_;
   rclcpp::Subscription<autoware_adapi_v1_msgs::msg::MrmState>::SharedPtr sub_emergency_;
-  rclcpp::Subscription<autoware_auto_system_msgs::msg::HazardStatusStamped>::SharedPtr
+  rclcpp::Subscription<autoware_system_msgs::msg::HazardStatusStamped>::SharedPtr
     sub_hazard_status_;
   rclcpp::Subscription<tier4_planning_msgs::msg::StopReasonArray>::SharedPtr sub_stop_reason_;
   rclcpp::Subscription<tier4_v2x_msgs::msg::InfrastructureCommandArray>::SharedPtr sub_v2x_command_;
@@ -85,17 +83,16 @@ class AutowareIvAdapter : public rclcpp::Node
     sub_lane_change_available_;
   rclcpp::Subscription<tier4_planning_msgs::msg::LaneChangeStatus>::SharedPtr
     sub_lane_change_ready_;
-  rclcpp::Subscription<autoware_auto_planning_msgs::msg::Path>::SharedPtr
-    sub_lane_change_candidate_;
+  rclcpp::Subscription<autoware_planning_msgs::msg::Path>::SharedPtr sub_lane_change_candidate_;
   rclcpp::Subscription<tier4_planning_msgs::msg::IsAvoidancePossible>::SharedPtr
     sub_obstacle_avoid_ready_;
-  rclcpp::Subscription<autoware_auto_planning_msgs::msg::Trajectory>::SharedPtr
+  rclcpp::Subscription<autoware_planning_msgs::msg::Trajectory>::SharedPtr
     sub_obstacle_avoid_candidate_;
   rclcpp::Subscription<tier4_api_msgs::msg::VelocityLimit>::SharedPtr sub_max_velocity_;
   rclcpp::Subscription<tier4_planning_msgs::msg::VelocityLimit>::SharedPtr
     sub_current_max_velocity_;
   rclcpp::Subscription<tier4_api_msgs::msg::StopCommand>::SharedPtr sub_temporary_stop_;
-  rclcpp::Subscription<autoware_auto_planning_msgs::msg::Trajectory>::SharedPtr sub_autoware_traj_;
+  rclcpp::Subscription<autoware_planning_msgs::msg::Trajectory>::SharedPtr sub_autoware_traj_;
 
   // publisher
   rclcpp::Publisher<tier4_v2x_msgs::msg::InfrastructureCommandArray>::SharedPtr pub_v2x_command_;
@@ -109,24 +106,23 @@ class AutowareIvAdapter : public rclcpp::Node
   tf2_ros::TransformListener tf_listener_;
 
   // callback function
-  void callbackSteer(const autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr msg_ptr);
-  void callbackVehicleCmd(
-    const autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr msg_ptr);
+  void callbackSteer(const autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr msg_ptr);
+  void callbackVehicleCmd(const autoware_control_msgs::msg::Control::ConstSharedPtr msg_ptr);
   void callbackTurnIndicators(
-    const autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr msg_ptr);
+    const autoware_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr msg_ptr);
   void callbackHazardLights(
-    const autoware_auto_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr msg_ptr);
+    const autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr msg_ptr);
   void callbackTwist(const nav_msgs::msg::Odometry::ConstSharedPtr msg_ptr);
-  void callbackGear(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr msg_ptr);
+  void callbackGear(const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr msg_ptr);
   void callbackBattery(const tier4_vehicle_msgs::msg::BatteryStatus::ConstSharedPtr msg_ptr);
   void callbackNavSat(const sensor_msgs::msg::NavSatFix::ConstSharedPtr msg_ptr);
   void callbackAutowareState(const tier4_system_msgs::msg::AutowareState::ConstSharedPtr msg_ptr);
   void callbackControlMode(
-    const autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg_ptr);
+    const autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg_ptr);
   void callbackGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg_ptr);
   void callbackMrmState(const autoware_adapi_v1_msgs::msg::MrmState::ConstSharedPtr msg_ptr);
   void callbackHazardStatus(
-    const autoware_auto_system_msgs::msg::HazardStatusStamped::ConstSharedPtr msg_ptr);
+    const autoware_system_msgs::msg::HazardStatusStamped::ConstSharedPtr msg_ptr);
   void callbackStopReason(const tier4_planning_msgs::msg::StopReasonArray::ConstSharedPtr msg_ptr);
   void callbackV2XCommand(
     const tier4_v2x_msgs::msg::InfrastructureCommandArray::ConstSharedPtr msg_ptr);
@@ -138,17 +134,17 @@ class AutowareIvAdapter : public rclcpp::Node
   void callbackLaneChangeReady(
     const tier4_planning_msgs::msg::LaneChangeStatus::ConstSharedPtr msg_ptr);
   void callbackLaneChangeCandidatePath(
-    const autoware_auto_planning_msgs::msg::Path::ConstSharedPtr msg_ptr);
+    const autoware_planning_msgs::msg::Path::ConstSharedPtr msg_ptr);
   void callbackLaneObstacleAvoidReady(
     const tier4_planning_msgs::msg::IsAvoidancePossible::ConstSharedPtr msg_ptr);
   void callbackLaneObstacleAvoidCandidatePath(
-    const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr msg_ptr);
+    const autoware_planning_msgs::msg::Trajectory::ConstSharedPtr msg_ptr);
   void callbackMaxVelocity(const tier4_api_msgs::msg::VelocityLimit::ConstSharedPtr msg_ptr);
   void callbackCurrentMaxVelocity(
     const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg_ptr);
   void callbackTemporaryStop(const tier4_api_msgs::msg::StopCommand::ConstSharedPtr msg_ptr);
   void callbackAutowareTrajectory(
-    const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr msg_ptr);
+    const autoware_planning_msgs::msg::Trajectory::ConstSharedPtr msg_ptr);
 
   // timer function
   void timerCallback();
diff --git a/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_lane_change_state_publisher.hpp b/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_lane_change_state_publisher.hpp
index d1ec3c5..adb87a5 100644
--- a/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_lane_change_state_publisher.hpp
+++ b/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_lane_change_state_publisher.hpp
@@ -43,7 +43,7 @@ class AutowareIvLaneChangeStatePublisher
     const tier4_planning_msgs::msg::LaneChangeStatus::ConstSharedPtr & ready_ptr,
     tier4_api_msgs::msg::LaneChangeStatus * status);
   void getCandidatePathInfo(
-    const autoware_auto_planning_msgs::msg::Path::ConstSharedPtr & path_ptr,
+    const autoware_planning_msgs::msg::Path::ConstSharedPtr & path_ptr,
     tier4_api_msgs::msg::LaneChangeStatus * status);
 };
 
diff --git a/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_obstacle_avoidance_state_publisher.hpp b/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_obstacle_avoidance_state_publisher.hpp
index 122faec..e54d5e3 100644
--- a/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_obstacle_avoidance_state_publisher.hpp
+++ b/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_obstacle_avoidance_state_publisher.hpp
@@ -40,7 +40,7 @@ class AutowareIvObstacleAvoidanceStatePublisher
     const tier4_planning_msgs::msg::IsAvoidancePossible::ConstSharedPtr & ready_ptr,
     tier4_api_msgs::msg::ObstacleAvoidanceStatus * status);
   void getCandidatePathInfo(
-    const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr & path_ptr,
+    const autoware_planning_msgs::msg::Trajectory::ConstSharedPtr & path_ptr,
     tier4_api_msgs::msg::ObstacleAvoidanceStatus * status);
 };
 
diff --git a/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_vehicle_state_publisher.hpp b/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_vehicle_state_publisher.hpp
index d8a1165..3e6901d 100644
--- a/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_vehicle_state_publisher.hpp
+++ b/awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_vehicle_state_publisher.hpp
@@ -40,22 +40,20 @@ class AutowareIvVehicleStatePublisher
     const std::shared_ptr<geometry_msgs::msg::PoseStamped> & pose_ptr,
     tier4_api_msgs::msg::AwapiVehicleStatus * status);
   void getSteerInfo(
-    const autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr & steer_ptr,
+    const autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr & steer_ptr,
     tier4_api_msgs::msg::AwapiVehicleStatus * status);
   void getVehicleCmdInfo(
-    const autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr &
-      vehicle_cmd_ptr,
+    const autoware_control_msgs::msg::Control::ConstSharedPtr & vehicle_cmd_ptr,
     tier4_api_msgs::msg::AwapiVehicleStatus * status);
   void getTurnSignalInfo(
-    const autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr &
-      turn_indicators_ptr,
-    const autoware_auto_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & hazard_lights_ptr,
+    const autoware_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr & turn_indicators_ptr,
+    const autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & hazard_lights_ptr,
     tier4_api_msgs::msg::AwapiVehicleStatus * status);
   void getTwistInfo(
     const nav_msgs::msg::Odometry::ConstSharedPtr & odometry_ptr,
     tier4_api_msgs::msg::AwapiVehicleStatus * status);
   void getGearInfo(
-    const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr & gear_ptr,
+    const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr & gear_ptr,
     tier4_api_msgs::msg::AwapiVehicleStatus * status);
   void getBatteryInfo(
     const tier4_vehicle_msgs::msg::BatteryStatus::ConstSharedPtr & battery_ptr,
@@ -69,7 +67,7 @@ class AutowareIvVehicleStatePublisher
 
   // parameters
   nav_msgs::msg::Odometry::ConstSharedPtr previous_odometry_ptr_;
-  autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr previous_steer_ptr_;
+  autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr previous_steer_ptr_;
   double prev_accel_;
   double prev_steer_vel_;
 
diff --git a/awapi_awiv_adapter/package.xml b/awapi_awiv_adapter/package.xml
index 03045aa..b920dec 100644
--- a/awapi_awiv_adapter/package.xml
+++ b/awapi_awiv_adapter/package.xml
@@ -11,10 +11,10 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
-  <depend>autoware_auto_control_msgs</depend>
-  <depend>autoware_auto_planning_msgs</depend>
-  <depend>autoware_auto_system_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_control_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
+  <depend>autoware_system_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
diff --git a/awapi_awiv_adapter/src/awapi_autoware_state_publisher.cpp b/awapi_awiv_adapter/src/awapi_autoware_state_publisher.cpp
index 11d68ac..bd0237b 100644
--- a/awapi_awiv_adapter/src/awapi_autoware_state_publisher.cpp
+++ b/awapi_awiv_adapter/src/awapi_autoware_state_publisher.cpp
@@ -72,7 +72,7 @@ void AutowareIvAutowareStatePublisher::getAutowareStateInfo(
 }
 
 void AutowareIvAutowareStatePublisher::getControlModeInfo(
-  const autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr & control_mode_ptr,
+  const autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr & control_mode_ptr,
   tier4_api_msgs::msg::AwapiAutowareStatus * status)
 {
   if (!control_mode_ptr) {
@@ -197,7 +197,7 @@ void AutowareIvAutowareStatePublisher::getDiagInfo(
 void AutowareIvAutowareStatePublisher::getErrorDiagInfo(
   const AutowareInfo & aw_info, tier4_api_msgs::msg::AwapiAutowareStatus * status)
 {
-  using autoware_auto_vehicle_msgs::msg::ControlModeReport;
+  using autoware_vehicle_msgs::msg::ControlModeReport;
   using tier4_system_msgs::msg::AutowareState;
 
   if (!aw_info.autoware_state_ptr) {
diff --git a/awapi_awiv_adapter/src/awapi_autoware_util.cpp b/awapi_awiv_adapter/src/awapi_autoware_util.cpp
index 830aeb2..9b4a763 100644
--- a/awapi_awiv_adapter/src/awapi_autoware_util.cpp
+++ b/awapi_awiv_adapter/src/awapi_autoware_util.cpp
@@ -26,7 +26,7 @@ double lowpass_filter(const double current_value, const double prev_value, const
 namespace planning_util
 {
 bool calcClosestIndex(
-  const autoware_auto_planning_msgs::msg::Trajectory & traj, const geometry_msgs::msg::Pose & pose,
+  const autoware_planning_msgs::msg::Trajectory & traj, const geometry_msgs::msg::Pose & pose,
   size_t & output_closest_idx, const double dist_thr, const double angle_thr)
 {
   double dist_min = std::numeric_limits<double>::max();
@@ -74,7 +74,7 @@ double normalizeEulerAngle(double euler)
 }
 
 double calcArcLengthFromWayPoint(
-  const autoware_auto_planning_msgs::msg::Trajectory & input_path, const size_t src_idx,
+  const autoware_planning_msgs::msg::Trajectory & input_path, const size_t src_idx,
   const size_t dst_idx)
 {
   double length = 0;
@@ -89,7 +89,7 @@ double calcArcLengthFromWayPoint(
 }
 
 double calcDistanceAlongTrajectory(
-  const autoware_auto_planning_msgs::msg::Trajectory & trajectory,
+  const autoware_planning_msgs::msg::Trajectory & trajectory,
   const geometry_msgs::msg::Pose & current_pose, const geometry_msgs::msg::Pose & target_pose)
 {
   size_t self_idx;
diff --git a/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp b/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp
index 18bcdc4..02ec938 100644
--- a/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp
+++ b/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp
@@ -58,21 +58,18 @@ AutowareIvAdapter::AutowareIvAdapter()
 
   auto durable_qos = rclcpp::QoS{1}.transient_local();
 
-  sub_steer_ = this->create_subscription<autoware_auto_vehicle_msgs::msg::SteeringReport>(
+  sub_steer_ = this->create_subscription<autoware_vehicle_msgs::msg::SteeringReport>(
     "input/steer", 1, std::bind(&AutowareIvAdapter::callbackSteer, this, _1));
-  sub_vehicle_cmd_ =
-    this->create_subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>(
-      "input/vehicle_cmd", durable_qos,
-      std::bind(&AutowareIvAdapter::callbackVehicleCmd, this, _1));
+  sub_vehicle_cmd_ = this->create_subscription<autoware_control_msgs::msg::Control>(
+    "input/vehicle_cmd", durable_qos, std::bind(&AutowareIvAdapter::callbackVehicleCmd, this, _1));
   sub_turn_indicators_ =
-    this->create_subscription<autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport>(
+    this->create_subscription<autoware_vehicle_msgs::msg::TurnIndicatorsReport>(
       "input/turn_indicators", 1, std::bind(&AutowareIvAdapter::callbackTurnIndicators, this, _1));
-  sub_hazard_lights_ =
-    this->create_subscription<autoware_auto_vehicle_msgs::msg::HazardLightsReport>(
-      "input/hazard_lights", 1, std::bind(&AutowareIvAdapter::callbackHazardLights, this, _1));
+  sub_hazard_lights_ = this->create_subscription<autoware_vehicle_msgs::msg::HazardLightsReport>(
+    "input/hazard_lights", 1, std::bind(&AutowareIvAdapter::callbackHazardLights, this, _1));
   sub_odometry_ = this->create_subscription<nav_msgs::msg::Odometry>(
     "input/odometry", 1, std::bind(&AutowareIvAdapter::callbackTwist, this, _1));
-  sub_gear_ = this->create_subscription<autoware_auto_vehicle_msgs::msg::GearReport>(
+  sub_gear_ = this->create_subscription<autoware_vehicle_msgs::msg::GearReport>(
     "input/gear", 1, std::bind(&AutowareIvAdapter::callbackGear, this, _1));
   sub_battery_ = this->create_subscription<tier4_vehicle_msgs::msg::BatteryStatus>(
     "input/battery", 1, std::bind(&AutowareIvAdapter::callbackBattery, this, _1));
@@ -80,15 +77,14 @@ AutowareIvAdapter::AutowareIvAdapter()
     "input/nav_sat", 1, std::bind(&AutowareIvAdapter::callbackNavSat, this, _1));
   sub_autoware_state_ = this->create_subscription<tier4_system_msgs::msg::AutowareState>(
     "input/autoware_state", 1, std::bind(&AutowareIvAdapter::callbackAutowareState, this, _1));
-  sub_control_mode_ = this->create_subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>(
+  sub_control_mode_ = this->create_subscription<autoware_vehicle_msgs::msg::ControlModeReport>(
     "input/control_mode", 1, std::bind(&AutowareIvAdapter::callbackControlMode, this, _1));
   sub_gate_mode_ = this->create_subscription<tier4_control_msgs::msg::GateMode>(
     "input/gate_mode", durable_qos, std::bind(&AutowareIvAdapter::callbackGateMode, this, _1));
   sub_emergency_ = this->create_subscription<autoware_adapi_v1_msgs::msg::MrmState>(
     "input/mrm_state", 1, std::bind(&AutowareIvAdapter::callbackMrmState, this, _1));
-  sub_hazard_status_ =
-    this->create_subscription<autoware_auto_system_msgs::msg::HazardStatusStamped>(
-      "input/hazard_status", 1, std::bind(&AutowareIvAdapter::callbackHazardStatus, this, _1));
+  sub_hazard_status_ = this->create_subscription<autoware_system_msgs::msg::HazardStatusStamped>(
+    "input/hazard_status", 1, std::bind(&AutowareIvAdapter::callbackHazardStatus, this, _1));
   sub_stop_reason_ = this->create_subscription<tier4_planning_msgs::msg::StopReasonArray>(
     "input/stop_reason", 100, std::bind(&AutowareIvAdapter::callbackStopReason, this, _1));
   sub_v2x_command_ = this->create_subscription<tier4_v2x_msgs::msg::InfrastructureCommandArray>(
@@ -103,7 +99,7 @@ AutowareIvAdapter::AutowareIvAdapter()
       std::bind(&AutowareIvAdapter::callbackLaneChangeAvailable, this, _1));
   sub_lane_change_ready_ = this->create_subscription<tier4_planning_msgs::msg::LaneChangeStatus>(
     "input/lane_change_ready", 1, std::bind(&AutowareIvAdapter::callbackLaneChangeReady, this, _1));
-  sub_lane_change_candidate_ = this->create_subscription<autoware_auto_planning_msgs::msg::Path>(
+  sub_lane_change_candidate_ = this->create_subscription<autoware_planning_msgs::msg::Path>(
     "input/lane_change_candidate_path", 1,
     std::bind(&AutowareIvAdapter::callbackLaneChangeCandidatePath, this, _1));
   sub_obstacle_avoid_ready_ =
@@ -111,7 +107,7 @@ AutowareIvAdapter::AutowareIvAdapter()
       "input/obstacle_avoid_ready", durable_qos,
       std::bind(&AutowareIvAdapter::callbackLaneObstacleAvoidReady, this, _1));
   sub_obstacle_avoid_candidate_ =
-    this->create_subscription<autoware_auto_planning_msgs::msg::Trajectory>(
+    this->create_subscription<autoware_planning_msgs::msg::Trajectory>(
       "input/obstacle_avoid_candidate_path", durable_qos,
       std::bind(&AutowareIvAdapter::callbackLaneObstacleAvoidCandidatePath, this, _1));
   sub_max_velocity_ = this->create_subscription<tier4_api_msgs::msg::VelocityLimit>(
@@ -121,7 +117,7 @@ AutowareIvAdapter::AutowareIvAdapter()
     std::bind(&AutowareIvAdapter::callbackCurrentMaxVelocity, this, _1));
   sub_temporary_stop_ = this->create_subscription<tier4_api_msgs::msg::StopCommand>(
     "input/temporary_stop", 1, std::bind(&AutowareIvAdapter::callbackTemporaryStop, this, _1));
-  sub_autoware_traj_ = this->create_subscription<autoware_auto_planning_msgs::msg::Trajectory>(
+  sub_autoware_traj_ = this->create_subscription<autoware_planning_msgs::msg::Trajectory>(
     "input/autoware_trajectory", 1,
     std::bind(&AutowareIvAdapter::callbackAutowareTrajectory, this, _1));
 
@@ -170,25 +166,25 @@ void AutowareIvAdapter::timerCallback()
 }
 
 void AutowareIvAdapter::callbackSteer(
-  const autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr msg_ptr)
+  const autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr msg_ptr)
 {
   aw_info_.steer_ptr = msg_ptr;
 }
 
 void AutowareIvAdapter::callbackVehicleCmd(
-  const autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr msg_ptr)
+  const autoware_control_msgs::msg::Control::ConstSharedPtr msg_ptr)
 {
   aw_info_.vehicle_cmd_ptr = msg_ptr;
 }
 
 void AutowareIvAdapter::callbackTurnIndicators(
-  const autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr msg_ptr)
+  const autoware_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr msg_ptr)
 {
   aw_info_.turn_indicators_ptr = msg_ptr;
 }
 
 void AutowareIvAdapter::callbackHazardLights(
-  const autoware_auto_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr msg_ptr)
+  const autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr msg_ptr)
 {
   aw_info_.hazard_lights_ptr = msg_ptr;
 }
@@ -199,7 +195,7 @@ void AutowareIvAdapter::callbackTwist(const nav_msgs::msg::Odometry::ConstShared
 }
 
 void AutowareIvAdapter::callbackGear(
-  const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr msg_ptr)
+  const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr msg_ptr)
 {
   aw_info_.gear_ptr = msg_ptr;
 }
@@ -238,7 +234,7 @@ void AutowareIvAdapter::callbackAutowareState(
   aw_info_.autoware_state_ptr = msg_ptr;
 }
 void AutowareIvAdapter::callbackControlMode(
-  const autoware_auto_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg_ptr)
+  const autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr msg_ptr)
 {
   aw_info_.control_mode_ptr = msg_ptr;
 }
@@ -256,7 +252,7 @@ void AutowareIvAdapter::callbackMrmState(
 }
 
 void AutowareIvAdapter::callbackHazardStatus(
-  const autoware_auto_system_msgs::msg::HazardStatusStamped::ConstSharedPtr msg_ptr)
+  const autoware_system_msgs::msg::HazardStatusStamped::ConstSharedPtr msg_ptr)
 {
   aw_info_.hazard_status_ptr = msg_ptr;
 }
@@ -298,7 +294,7 @@ void AutowareIvAdapter::callbackLaneChangeReady(
 }
 
 void AutowareIvAdapter::callbackLaneChangeCandidatePath(
-  const autoware_auto_planning_msgs::msg::Path::ConstSharedPtr msg_ptr)
+  const autoware_planning_msgs::msg::Path::ConstSharedPtr msg_ptr)
 {
   aw_info_.lane_change_candidate_ptr = msg_ptr;
 }
@@ -310,7 +306,7 @@ void AutowareIvAdapter::callbackLaneObstacleAvoidReady(
 }
 
 void AutowareIvAdapter::callbackLaneObstacleAvoidCandidatePath(
-  const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr msg_ptr)
+  const autoware_planning_msgs::msg::Trajectory::ConstSharedPtr msg_ptr)
 {
   aw_info_.obstacle_avoid_candidate_ptr = msg_ptr;
 }
@@ -343,7 +339,7 @@ void AutowareIvAdapter::callbackTemporaryStop(
 }
 
 void AutowareIvAdapter::callbackAutowareTrajectory(
-  const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr msg_ptr)
+  const autoware_planning_msgs::msg::Trajectory::ConstSharedPtr msg_ptr)
 {
   aw_info_.autoware_planning_traj_ptr = msg_ptr;
 }
diff --git a/awapi_awiv_adapter/src/awapi_lane_change_state_publisher.cpp b/awapi_awiv_adapter/src/awapi_lane_change_state_publisher.cpp
index eb9cd8c..b5da0c3 100644
--- a/awapi_awiv_adapter/src/awapi_lane_change_state_publisher.cpp
+++ b/awapi_awiv_adapter/src/awapi_lane_change_state_publisher.cpp
@@ -72,7 +72,7 @@ void AutowareIvLaneChangeStatePublisher::getLaneChangeReadyInfo(
 }
 
 void AutowareIvLaneChangeStatePublisher::getCandidatePathInfo(
-  const autoware_auto_planning_msgs::msg::Path::ConstSharedPtr & path_ptr,
+  const autoware_planning_msgs::msg::Path::ConstSharedPtr & path_ptr,
   tier4_api_msgs::msg::LaneChangeStatus * status)
 {
   if (!path_ptr) {
diff --git a/awapi_awiv_adapter/src/awapi_obstacle_avoidance_state_publisher.cpp b/awapi_awiv_adapter/src/awapi_obstacle_avoidance_state_publisher.cpp
index feda2ed..47ddcad 100644
--- a/awapi_awiv_adapter/src/awapi_obstacle_avoidance_state_publisher.cpp
+++ b/awapi_awiv_adapter/src/awapi_obstacle_avoidance_state_publisher.cpp
@@ -58,7 +58,7 @@ void AutowareIvObstacleAvoidanceStatePublisher::getObstacleAvoidReadyInfo(
 }
 
 void AutowareIvObstacleAvoidanceStatePublisher::getCandidatePathInfo(
-  const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr & path_ptr,
+  const autoware_planning_msgs::msg::Trajectory::ConstSharedPtr & path_ptr,
   tier4_api_msgs::msg::ObstacleAvoidanceStatus * status)
 {
   if (!path_ptr) {
diff --git a/awapi_awiv_adapter/src/awapi_vehicle_state_publisher.cpp b/awapi_awiv_adapter/src/awapi_vehicle_state_publisher.cpp
index 4036ff5..d1aa6da 100644
--- a/awapi_awiv_adapter/src/awapi_vehicle_state_publisher.cpp
+++ b/awapi_awiv_adapter/src/awapi_vehicle_state_publisher.cpp
@@ -83,7 +83,7 @@ void AutowareIvVehicleStatePublisher::getPoseInfo(
 }
 
 void AutowareIvVehicleStatePublisher::getSteerInfo(
-  const autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr & steer_ptr,
+  const autoware_vehicle_msgs::msg::SteeringReport::ConstSharedPtr & steer_ptr,
   tier4_api_msgs::msg::AwapiVehicleStatus * status)
 {
   if (!steer_ptr) {
@@ -112,7 +112,7 @@ void AutowareIvVehicleStatePublisher::getSteerInfo(
   previous_steer_ptr_ = steer_ptr;
 }
 void AutowareIvVehicleStatePublisher::getVehicleCmdInfo(
-  const autoware_auto_control_msgs::msg::AckermannControlCommand::ConstSharedPtr & vehicle_cmd_ptr,
+  const autoware_control_msgs::msg::Control::ConstSharedPtr & vehicle_cmd_ptr,
   tier4_api_msgs::msg::AwapiVehicleStatus * status)
 {
   if (!vehicle_cmd_ptr) {
@@ -122,14 +122,14 @@ void AutowareIvVehicleStatePublisher::getVehicleCmdInfo(
 
   // get command
   status->target_acceleration = vehicle_cmd_ptr->longitudinal.acceleration;
-  status->target_velocity = vehicle_cmd_ptr->longitudinal.speed;
+  status->target_velocity = vehicle_cmd_ptr->longitudinal.velocity;
   status->target_steering = vehicle_cmd_ptr->lateral.steering_tire_angle;
   status->target_steering_velocity = vehicle_cmd_ptr->lateral.steering_tire_rotation_rate;
 }
 
 void AutowareIvVehicleStatePublisher::getTurnSignalInfo(
-  const autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr & turn_indicators_ptr,
-  const autoware_auto_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & hazard_lights_ptr,
+  const autoware_vehicle_msgs::msg::TurnIndicatorsReport::ConstSharedPtr & turn_indicators_ptr,
+  const autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & hazard_lights_ptr,
   tier4_api_msgs::msg::AwapiVehicleStatus * status)
 {
   if (!turn_indicators_ptr) {
@@ -181,7 +181,7 @@ void AutowareIvVehicleStatePublisher::getTwistInfo(
 }
 
 void AutowareIvVehicleStatePublisher::getGearInfo(
-  const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr & gear_ptr,
+  const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr & gear_ptr,
   tier4_api_msgs::msg::AwapiVehicleStatus * status)
 {
   if (!gear_ptr) {