diff --git a/autoware_iv_external_api_adaptor/package.xml b/autoware_iv_external_api_adaptor/package.xml
index 9d87f46..23a83de 100644
--- a/autoware_iv_external_api_adaptor/package.xml
+++ b/autoware_iv_external_api_adaptor/package.xml
@@ -10,7 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_ad_api_specs</depend>
+  <depend>autoware_adapi_specs</depend>
   <depend>autoware_component_interface_specs</depend>
   <depend>autoware_component_interface_utils</depend>
   <depend>autoware_control_msgs</depend>
diff --git a/autoware_iv_external_api_adaptor/src/route.cpp b/autoware_iv_external_api_adaptor/src/route.cpp
index 9dac0fc..d001bd4 100644
--- a/autoware_iv_external_api_adaptor/src/route.cpp
+++ b/autoware_iv_external_api_adaptor/src/route.cpp
@@ -62,7 +62,7 @@ void Route::setRoute(
   }
 
   try {
-    const auto req = std::make_shared<autoware_ad_api::routing::SetRoute::Service::Request>();
+    const auto req = std::make_shared<autoware::adapi_specs::routing::SetRoute::Service::Request>();
     *req = converter::convert(*request);
     const auto res = cli_set_route_->call(req);
     response->status = converter::convert(res->status);
@@ -76,7 +76,8 @@ void Route::clearRoute(
   const tier4_external_api_msgs::srv::ClearRoute::Response::SharedPtr response)
 {
   try {
-    const auto req = std::make_shared<autoware_ad_api::routing::ClearRoute::Service::Request>();
+    const auto req =
+      std::make_shared<autoware::adapi_specs::routing::ClearRoute::Service::Request>();
     const auto res = cli_clear_route_->call(req);
     response->status = converter::convert(res->status);
   } catch (const autoware::component_interface_utils::ServiceException & error) {
@@ -84,7 +85,7 @@ void Route::clearRoute(
   }
 }
 
-void Route::onRoute(const autoware_ad_api::routing::Route::Message::ConstSharedPtr message)
+void Route::onRoute(const autoware::adapi_specs::routing::Route::Message::ConstSharedPtr message)
 {
   if (!message->data.empty()) {
     pub_get_route_->publish(converter::convert(*message));
diff --git a/autoware_iv_external_api_adaptor/src/route.hpp b/autoware_iv_external_api_adaptor/src/route.hpp
index dade0f5..392f624 100644
--- a/autoware_iv_external_api_adaptor/src/route.hpp
+++ b/autoware_iv_external_api_adaptor/src/route.hpp
@@ -15,8 +15,8 @@
 #ifndef ROUTE_HPP_
 #define ROUTE_HPP_
 
+#include "autoware/adapi_specs/routing.hpp"
 #include "autoware/component_interface_utils/rclcpp.hpp"
-#include "autoware_ad_api_specs/routing.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tier4_api_utils/tier4_api_utils.hpp"
 
@@ -44,12 +44,12 @@ class Route : public rclcpp::Node
   tier4_api_utils::Service<SetRoute>::SharedPtr srv_set_route_;
   tier4_api_utils::Service<ClearRoute>::SharedPtr srv_clear_route_;
   rclcpp::Publisher<RouteMsg>::SharedPtr pub_get_route_;
-  autoware::component_interface_utils::Client<autoware_ad_api::routing::ClearRoute>::SharedPtr
+  autoware::component_interface_utils::Client<autoware::adapi_specs::routing::ClearRoute>::SharedPtr
     cli_clear_route_;
-  autoware::component_interface_utils::Client<autoware_ad_api::routing::SetRoute>::SharedPtr
+  autoware::component_interface_utils::Client<autoware::adapi_specs::routing::SetRoute>::SharedPtr
     cli_set_route_;
-  autoware::component_interface_utils::Subscription<autoware_ad_api::routing::Route>::SharedPtr
-    sub_get_route_;
+  autoware::component_interface_utils::Subscription<
+    autoware::adapi_specs::routing::Route>::SharedPtr sub_get_route_;
 
   // ros callback
   void setRoute(
@@ -58,7 +58,7 @@ class Route : public rclcpp::Node
   void clearRoute(
     const tier4_external_api_msgs::srv::ClearRoute::Request::SharedPtr request,
     const tier4_external_api_msgs::srv::ClearRoute::Response::SharedPtr response);
-  void onRoute(const autoware_ad_api::routing::Route::Message::ConstSharedPtr message);
+  void onRoute(const autoware::adapi_specs::routing::Route::Message::ConstSharedPtr message);
 };
 
 }  // namespace external_api