diff --git a/control/autoware_trajectory_follower_node/README.md b/control/autoware_trajectory_follower_node/README.md
index ac05dd67f18e6..c56154f909d1a 100644
--- a/control/autoware_trajectory_follower_node/README.md
+++ b/control/autoware_trajectory_follower_node/README.md
@@ -151,7 +151,7 @@ Giving the longitudinal controller information about steer convergence allows it
 
 ## Debugging
 
-Debug information are published by the lateral and longitudinal controller using `tier4_debug_msgs/Float32MultiArrayStamped` messages.
+Debug information are published by the lateral and longitudinal controller using `autoware_internal_debug_msgs/Float32MultiArrayStamped` messages.
 
 A configuration file for [PlotJuggler](https://github.com/facontidavide/PlotJuggler) is provided in the `config` folder which, when loaded, allow to automatically subscribe and visualize information useful for debugging.
 
diff --git a/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/controller_node.hpp b/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/controller_node.hpp
index 1733b4bcbbb7d..c84355cc202fa 100644
--- a/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/controller_node.hpp
+++ b/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/controller_node.hpp
@@ -44,7 +44,7 @@
 #include "tf2_msgs/msg/tf_message.hpp"
 #include "visualization_msgs/msg/marker_array.hpp"
 #include <autoware_control_msgs/msg/detail/control_horizon__struct.hpp>
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 
 #include <memory>
 #include <string>
@@ -63,7 +63,7 @@ namespace trajectory_follower_node
 using autoware::universe_utils::StopWatch;
 using autoware_adapi_v1_msgs::msg::OperationModeState;
 using autoware_control_msgs::msg::ControlHorizon;
-using tier4_debug_msgs::msg::Float64Stamped;
+using autoware_internal_debug_msgs::msg::Float64Stamped;
 
 namespace trajectory_follower = ::autoware::motion::control::trajectory_follower;