diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp
index 74b4edbe595ea..8fda0c1395caf 100644
--- a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp
+++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.cpp
@@ -369,9 +369,9 @@ void ScanGroundFilterComponent::faster_filter(
   if (debug_publisher_ptr_ && stop_watch_ptr_) {
     const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);
     const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
-    debug_publisher_ptr_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_ptr_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/cyclic_time_ms", cyclic_time_ms);
-    debug_publisher_ptr_->publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_ptr_->publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "debug/processing_time_ms", processing_time_ms);
   }
 }