diff --git a/control/control_performance_analysis/package.xml b/control/control_performance_analysis/package.xml
index 9c2ef69e0137b..f2630a7d47f62 100644
--- a/control/control_performance_analysis/package.xml
+++ b/control/control_performance_analysis/package.xml
@@ -25,6 +25,7 @@
   <build_depend>builtin_interfaces</build_depend>
 
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_signal_processing</depend>
@@ -41,7 +42,6 @@
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
   <exec_depend>autoware_global_parameter_loader</exec_depend>
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
diff --git a/control/control_performance_analysis/scripts/control_performance_plot.py b/control/control_performance_analysis/scripts/control_performance_plot.py
index c5e5cabd5b059..d4a6038465e12 100644
--- a/control/control_performance_analysis/scripts/control_performance_plot.py
+++ b/control/control_performance_analysis/scripts/control_performance_plot.py
@@ -17,13 +17,13 @@
 import argparse
 import math
 
+from autoware_internal_debug_msgs.msg import BoolStamped
 from control_performance_analysis.msg import DrivingMonitorStamped
 from control_performance_analysis.msg import ErrorStamped
 import matplotlib.pyplot as plt
 from nav_msgs.msg import Odometry
 import rclpy
 from rclpy.node import Node
-from tier4_debug_msgs.msg import BoolStamped
 
 parser = argparse.ArgumentParser()
 parser.add_argument("-i", "--interval", help="interval distance to plot")