diff --git a/localization/autoware_twist2accel/package.xml b/localization/autoware_twist2accel/package.xml
index 013ef54fe52d1..092b227c2ad40 100644
--- a/localization/autoware_twist2accel/package.xml
+++ b/localization/autoware_twist2accel/package.xml
@@ -17,7 +17,6 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_signal_processing</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
diff --git a/localization/autoware_twist2accel/src/twist2accel.hpp b/localization/autoware_twist2accel/src/twist2accel.hpp
index d142328f9d498..48bc03a326091 100644
--- a/localization/autoware_twist2accel/src/twist2accel.hpp
+++ b/localization/autoware_twist2accel/src/twist2accel.hpp
@@ -19,7 +19,6 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>