diff --git a/system/diagnostic_graph_utils/package.xml b/system/diagnostic_graph_utils/package.xml
index 03cf1fa369774..b777ee530ecc9 100644
--- a/system/diagnostic_graph_utils/package.xml
+++ b/system/diagnostic_graph_utils/package.xml
@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>diagnostic_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/system/diagnostic_graph_utils/src/node/logging.cpp b/system/diagnostic_graph_utils/src/node/logging.cpp
index 5d360a00aee82..2dfc939469172 100644
--- a/system/diagnostic_graph_utils/src/node/logging.cpp
+++ b/system/diagnostic_graph_utils/src/node/logging.cpp
@@ -34,7 +34,7 @@ LoggingNode::LoggingNode(const rclcpp::NodeOptions & options) : Node("logging",
   sub_graph_.register_create_callback(std::bind(&LoggingNode::on_create, this, _1));
   sub_graph_.subscribe(*this, 1);
 
-  pub_error_graph_text_ = create_publisher<tier4_debug_msgs::msg::StringStamped>(
+  pub_error_graph_text_ = create_publisher<autoware_internal_debug_msgs::msg::StringStamped>(
     "~/debug/error_graph_text", rclcpp::QoS(1));
 
   const auto period = rclcpp::Rate(declare_parameter<double>("show_rate")).period();
@@ -68,12 +68,12 @@ void LoggingNode::on_timer()
       RCLCPP_WARN_STREAM(get_logger(), prefix_message << std::endl << dump_text_.str());
     }
 
-    tier4_debug_msgs::msg::StringStamped message;
+    autoware_internal_debug_msgs::msg::StringStamped message;
     message.stamp = now();
     message.data = dump_text_.str();
     pub_error_graph_text_->publish(message);
   } else {
-    tier4_debug_msgs::msg::StringStamped message;
+    autoware_internal_debug_msgs::msg::StringStamped message;
     message.stamp = now();
     pub_error_graph_text_->publish(message);
   }
diff --git a/system/diagnostic_graph_utils/src/node/logging.hpp b/system/diagnostic_graph_utils/src/node/logging.hpp
index 17d33499a1513..81acfcd2ad82f 100644
--- a/system/diagnostic_graph_utils/src/node/logging.hpp
+++ b/system/diagnostic_graph_utils/src/node/logging.hpp
@@ -19,7 +19,7 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include "tier4_debug_msgs/msg/string_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/string_stamped.hpp"
 
 #include <sstream>
 #include <string>
@@ -37,7 +37,8 @@ class LoggingNode : public rclcpp::Node
   void on_timer();
   void dump_unit(DiagUnit * unit, int depth, const std::string & indent);
   DiagGraphSubscription sub_graph_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::StringStamped>::SharedPtr pub_error_graph_text_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::StringStamped>::SharedPtr
+    pub_error_graph_text_;
   rclcpp::TimerBase::SharedPtr timer_;
 
   DiagUnit * root_unit_;