diff --git a/build_depends.repos b/build_depends.repos
index 4b86fbe3..6f78becb 100644
--- a/build_depends.repos
+++ b/build_depends.repos
@@ -3,3 +3,7 @@ repositories:
     type: git
     url: https://github.com/tier4/autoware_auto_msgs.git
     version: tier4/main
+  tmp/autoware_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_msgs.git
+    version: main
diff --git a/tmp/lanelet2_extension/include/lanelet2_extension/utility/route_checker.hpp b/tmp/lanelet2_extension/include/lanelet2_extension/utility/route_checker.hpp
index 572d9e3c..a6640fe9 100644
--- a/tmp/lanelet2_extension/include/lanelet2_extension/utility/route_checker.hpp
+++ b/tmp/lanelet2_extension/include/lanelet2_extension/utility/route_checker.hpp
@@ -21,14 +21,14 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
-#include <autoware_auto_planning_msgs/msg/had_map_route.hpp>
+#include <autoware_planning_msgs/msg/lanelet_route.hpp>
 
 namespace lanelet::utils::route
 {
 using autoware_auto_mapping_msgs::msg::HADMapBin;
-using autoware_auto_planning_msgs::msg::HADMapRoute;
+using autoware_planning_msgs::msg::LaneletRoute;
 
-bool isRouteValid(const HADMapRoute & route, const lanelet::LaneletMapPtr lanelet_map_ptr_);
+bool isRouteValid(const LaneletRoute & route, const lanelet::LaneletMapPtr lanelet_map_ptr_);
 }  // namespace lanelet::utils::route
 
 // NOLINTEND(readability-identifier-naming)
diff --git a/tmp/lanelet2_extension/lib/route_checker.cpp b/tmp/lanelet2_extension/lib/route_checker.cpp
index 2ba24773..5b99d30d 100644
--- a/tmp/lanelet2_extension/lib/route_checker.cpp
+++ b/tmp/lanelet2_extension/lib/route_checker.cpp
@@ -21,7 +21,7 @@
 namespace lanelet::utils
 {
 bool route::isRouteValid(
-  const HADMapRoute & route_msg, const lanelet::LaneletMapPtr lanelet_map_ptr_)
+  const LaneletRoute & route_msg, const lanelet::LaneletMapPtr lanelet_map_ptr_)
 {
   for (const auto & route_section : route_msg.segments) {
     for (const auto & primitive : route_section.primitives) {
diff --git a/tmp/lanelet2_extension/package.xml b/tmp/lanelet2_extension/package.xml
index 7806ecb3..2a117b2e 100644
--- a/tmp/lanelet2_extension/package.xml
+++ b/tmp/lanelet2_extension/package.xml
@@ -13,6 +13,7 @@
 
   <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
+  <depend>autoware_planning_msgs</depend>
   <depend>autoware_utils</depend>
   <depend>geographiclib</depend>
   <depend>geometry_msgs</depend>
diff --git a/tmp/lanelet2_extension/test/src/test_route_checker.cpp b/tmp/lanelet2_extension/test/src/test_route_checker.cpp
index 1f4d6a89..1cfc8529 100644
--- a/tmp/lanelet2_extension/test/src/test_route_checker.cpp
+++ b/tmp/lanelet2_extension/test/src/test_route_checker.cpp
@@ -18,7 +18,7 @@
 #include "lanelet2_extension/utility/route_checker.hpp"
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
-#include <autoware_auto_planning_msgs/msg/had_map_route.hpp>
+#include <autoware_planning_msgs/msg/lanelet_route.hpp>
 
 #include <gtest/gtest.h>
 
@@ -48,9 +48,9 @@ class TestSuite : public ::testing::Test  // NOLINT for gtest
     sample_map_ptr->add(lanelet);
 
     // create sample routes
-    autoware_auto_mapping_msgs::msg::MapPrimitive map_primitive;
-    autoware_auto_mapping_msgs::msg::HADMapSegment map_segment1;
-    autoware_auto_mapping_msgs::msg::HADMapSegment map_segment2;
+    autoware_planning_msgs::msg::LaneletPrimitive map_primitive;
+    autoware_planning_msgs::msg::LaneletSegment map_segment1;
+    autoware_planning_msgs::msg::LaneletSegment map_segment2;
 
     for (size_t i = 0; i < 2; i++) {
       map_primitive.id = lanelet.id();
@@ -65,8 +65,8 @@ class TestSuite : public ::testing::Test  // NOLINT for gtest
   ~TestSuite() override = default;
 
   lanelet::LaneletMapPtr sample_map_ptr;
-  autoware_auto_planning_msgs::msg::HADMapRoute sample_route1;  // valid route
-  autoware_auto_planning_msgs::msg::HADMapRoute sample_route2;  // invalid route
+  autoware_planning_msgs::msg::LaneletRoute sample_route1;  // valid route
+  autoware_planning_msgs::msg::LaneletRoute sample_route2;  // invalid route
 
 private:
 };
@@ -76,9 +76,9 @@ TEST_F(TestSuite, isRouteValid)  // NOLINT for gtest
   autoware_auto_mapping_msgs::msg::HADMapBin bin_msg;
 
   const auto route_ptr1 =
-    std::make_shared<autoware_auto_planning_msgs::msg::HADMapRoute>(sample_route1);
+    std::make_shared<autoware_planning_msgs::msg::LaneletRoute>(sample_route1);
   const auto route_ptr2 =
-    std::make_shared<autoware_auto_planning_msgs::msg::HADMapRoute>(sample_route2);
+    std::make_shared<autoware_planning_msgs::msg::LaneletRoute>(sample_route2);
 
   // toBinMsg is tested at test_message_conversion.cpp
   lanelet::utils::conversion::toBinMsg(sample_map_ptr, &bin_msg);