diff --git a/simulator/dummy_perception_publisher/CMakeLists.txt b/simulator/dummy_perception_publisher/CMakeLists.txt
index a27667edf536b..0acf4694d03a6 100644
--- a/simulator/dummy_perception_publisher/CMakeLists.txt
+++ b/simulator/dummy_perception_publisher/CMakeLists.txt
@@ -4,12 +4,6 @@ project(dummy_perception_publisher)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/InitialState.msg"
-  "msg/Object.msg"
-  DEPENDENCIES autoware_perception_msgs tier4_perception_msgs geometry_msgs std_msgs unique_identifier_msgs
-)
-
 # See ndt_omp package for documentation on why PCL is special
 find_package(PCL REQUIRED COMPONENTS common filters)
 
@@ -46,16 +40,6 @@ target_include_directories(dummy_perception_publisher_node
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>)
 
-# For using message definitions from the same package
-if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
-  rosidl_target_interfaces(dummy_perception_publisher_node
-    ${PROJECT_NAME} "rosidl_typesupport_cpp")
-else()
-  rosidl_get_typesupport_target(
-    cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
-  target_link_libraries(dummy_perception_publisher_node "${cpp_typesupport_target}")
-endif()
-
 # PCL dependencies - `ament_target_dependencies` doesn't respect the
 # components/modules selected above and only links in `common` ,so we need
 # to do this manually.
diff --git a/simulator/dummy_perception_publisher/README.md b/simulator/dummy_perception_publisher/README.md
index 5d969dd292832..41bd8091008a6 100644
--- a/simulator/dummy_perception_publisher/README.md
+++ b/simulator/dummy_perception_publisher/README.md
@@ -13,7 +13,7 @@ This node publishes the result of the dummy detection with the type of perceptio
 | Name           | Type                                      | Description             |
 | -------------- | ----------------------------------------- | ----------------------- |
 | `/tf`          | `tf2_msgs/TFMessage`                      | TF (self-pose)          |
-| `input/object` | `dummy_perception_publisher::msg::Object` | dummy detection objects |
+| `input/object` | `tier4_simulation_msgs::msg::DummyObject` | dummy detection objects |
 
 ### Output
 
diff --git a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp b/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp
index c3f7976d3efa1..4d50e547fc759 100644
--- a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp
+++ b/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp
@@ -15,14 +15,13 @@
 #ifndef DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
 #define DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
 
-#include "dummy_perception_publisher/msg/object.hpp"
-
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
 #include <autoware_perception_msgs/msg/tracked_objects.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tier4_perception_msgs/msg/detected_objects_with_feature.hpp>
+#include <tier4_simulation_msgs/msg/dummy_object.hpp>
 
 #include <pcl/common/distances.h>
 #include <pcl/point_types.h>
@@ -45,7 +44,7 @@
 struct ObjectInfo
 {
   ObjectInfo(
-    const dummy_perception_publisher::msg::Object & object, const rclcpp::Time & current_time);
+    const tier4_simulation_msgs::msg::DummyObject & object, const rclcpp::Time & current_time);
   double length;
   double width;
   double height;
@@ -60,7 +59,7 @@ struct ObjectInfo
   // convert to TrackedObject
   // (todo) currently need object input to get id and header information, but it should be removed
   autoware_perception_msgs::msg::TrackedObject toTrackedObject(
-    const dummy_perception_publisher::msg::Object & object) const;
+    const tier4_simulation_msgs::msg::DummyObject & object) const;
 };
 
 class PointCloudCreator
@@ -116,11 +115,11 @@ class DummyPerceptionPublisherNode : public rclcpp::Node
     detected_object_with_feature_pub_;
   rclcpp::Publisher<autoware_perception_msgs::msg::TrackedObjects>::SharedPtr
     ground_truth_objects_pub_;
-  rclcpp::Subscription<dummy_perception_publisher::msg::Object>::SharedPtr object_sub_;
+  rclcpp::Subscription<tier4_simulation_msgs::msg::DummyObject>::SharedPtr object_sub_;
   rclcpp::TimerBase::SharedPtr timer_;
   tf2_ros::Buffer tf_buffer_;
   tf2_ros::TransformListener tf_listener_;
-  std::vector<dummy_perception_publisher::msg::Object> objects_;
+  std::vector<tier4_simulation_msgs::msg::DummyObject> objects_;
   double visible_range_;
   double detection_successful_rate_;
   bool enable_ray_tracing_;
@@ -134,7 +133,7 @@ class DummyPerceptionPublisherNode : public rclcpp::Node
 
   std::mt19937 random_generator_;
   void timerCallback();
-  void objectCallback(const dummy_perception_publisher::msg::Object::ConstSharedPtr msg);
+  void objectCallback(const tier4_simulation_msgs::msg::DummyObject::ConstSharedPtr msg);
 
 public:
   DummyPerceptionPublisherNode();
diff --git a/simulator/dummy_perception_publisher/msg/InitialState.msg b/simulator/dummy_perception_publisher/msg/InitialState.msg
deleted file mode 100644
index 39948a7f731b8..0000000000000
--- a/simulator/dummy_perception_publisher/msg/InitialState.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-geometry_msgs/PoseWithCovariance pose_covariance
-geometry_msgs/TwistWithCovariance twist_covariance
-geometry_msgs/AccelWithCovariance accel_covariance
diff --git a/simulator/dummy_perception_publisher/msg/Object.msg b/simulator/dummy_perception_publisher/msg/Object.msg
deleted file mode 100644
index 11ac1b3d39daa..0000000000000
--- a/simulator/dummy_perception_publisher/msg/Object.msg
+++ /dev/null
@@ -1,13 +0,0 @@
-std_msgs/Header header
-unique_identifier_msgs/UUID id
-dummy_perception_publisher/InitialState initial_state
-autoware_perception_msgs/ObjectClassification classification
-autoware_perception_msgs/Shape shape
-float32 max_velocity
-float32 min_velocity
-
-uint8 ADD=0
-uint8 MODIFY=1
-uint8 DELETE=2
-uint8 DELETEALL=3
-int32 action
diff --git a/simulator/dummy_perception_publisher/package.xml b/simulator/dummy_perception_publisher/package.xml
index caeb01c6823e5..dda52fd5e8fbb 100644
--- a/simulator/dummy_perception_publisher/package.xml
+++ b/simulator/dummy_perception_publisher/package.xml
@@ -20,7 +20,6 @@
 
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_universe_utils</depend>
-  <depend>geometry_msgs</depend>
   <depend>libpcl-all-dev</depend>
   <depend>pcl_conversions</depend>
   <depend>rclcpp</depend>
@@ -30,9 +29,7 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_perception_msgs</depend>
-  <depend>unique_identifier_msgs</depend>
-
-  <member_of_group>rosidl_interface_packages</member_of_group>
+  <depend>tier4_simulation_msgs</depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/simulator/dummy_perception_publisher/src/node.cpp b/simulator/dummy_perception_publisher/src/node.cpp
index daf61bc33425c..dba230f23f108 100644
--- a/simulator/dummy_perception_publisher/src/node.cpp
+++ b/simulator/dummy_perception_publisher/src/node.cpp
@@ -37,7 +37,7 @@ using autoware_perception_msgs::msg::TrackedObject;
 using autoware_perception_msgs::msg::TrackedObjects;
 
 ObjectInfo::ObjectInfo(
-  const dummy_perception_publisher::msg::Object & object, const rclcpp::Time & current_time)
+  const tier4_simulation_msgs::msg::DummyObject & object, const rclcpp::Time & current_time)
 : length(object.shape.dimensions.x),
   width(object.shape.dimensions.y),
   height(object.shape.dimensions.z),
@@ -108,7 +108,7 @@ ObjectInfo::ObjectInfo(
 }
 
 TrackedObject ObjectInfo::toTrackedObject(
-  const dummy_perception_publisher::msg::Object & object) const
+  const tier4_simulation_msgs::msg::DummyObject & object) const
 {
   TrackedObject tracked_object;
   tracked_object.kinematics.pose_with_covariance = pose_covariance_;
@@ -164,7 +164,7 @@ DummyPerceptionPublisherNode::DummyPerceptionPublisherNode()
     this->create_publisher<tier4_perception_msgs::msg::DetectedObjectsWithFeature>(
       "output/dynamic_object", qos);
   pointcloud_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("output/points_raw", qos);
-  object_sub_ = this->create_subscription<dummy_perception_publisher::msg::Object>(
+  object_sub_ = this->create_subscription<tier4_simulation_msgs::msg::DummyObject>(
     "input/object", 100,
     std::bind(&DummyPerceptionPublisherNode::objectCallback, this, std::placeholders::_1));
 
@@ -331,10 +331,10 @@ void DummyPerceptionPublisherNode::timerCallback()
 }
 
 void DummyPerceptionPublisherNode::objectCallback(
-  const dummy_perception_publisher::msg::Object::ConstSharedPtr msg)
+  const tier4_simulation_msgs::msg::DummyObject::ConstSharedPtr msg)
 {
   switch (msg->action) {
-    case dummy_perception_publisher::msg::Object::ADD: {
+    case tier4_simulation_msgs::msg::DummyObject::ADD: {
       tf2::Transform tf_input2map;
       tf2::Transform tf_input2object_origin;
       tf2::Transform tf_map2object_origin;
@@ -350,7 +350,7 @@ void DummyPerceptionPublisherNode::objectCallback(
       }
       tf2::fromMsg(msg->initial_state.pose_covariance.pose, tf_input2object_origin);
       tf_map2object_origin = tf_input2map.inverse() * tf_input2object_origin;
-      dummy_perception_publisher::msg::Object object;
+      tier4_simulation_msgs::msg::DummyObject object;
       object = *msg;
       tf2::toMsg(tf_map2object_origin, object.initial_state.pose_covariance.pose);
 
@@ -371,7 +371,7 @@ void DummyPerceptionPublisherNode::objectCallback(
       objects_.push_back(object);
       break;
     }
-    case dummy_perception_publisher::msg::Object::DELETE: {
+    case tier4_simulation_msgs::msg::DummyObject::DELETE: {
       for (size_t i = 0; i < objects_.size(); ++i) {
         if (objects_.at(i).id.uuid == msg->id.uuid) {
           objects_.erase(objects_.begin() + i);
@@ -380,7 +380,7 @@ void DummyPerceptionPublisherNode::objectCallback(
       }
       break;
     }
-    case dummy_perception_publisher::msg::Object::MODIFY: {
+    case tier4_simulation_msgs::msg::DummyObject::MODIFY: {
       for (size_t i = 0; i < objects_.size(); ++i) {
         if (objects_.at(i).id.uuid == msg->id.uuid) {
           tf2::Transform tf_input2map;
@@ -398,7 +398,7 @@ void DummyPerceptionPublisherNode::objectCallback(
           }
           tf2::fromMsg(msg->initial_state.pose_covariance.pose, tf_input2object_origin);
           tf_map2object_origin = tf_input2map.inverse() * tf_input2object_origin;
-          dummy_perception_publisher::msg::Object object;
+          tier4_simulation_msgs::msg::DummyObject object;
           objects_.at(i) = *msg;
           tf2::toMsg(tf_map2object_origin, objects_.at(i).initial_state.pose_covariance.pose);
           if (use_base_link_z_) {
@@ -420,7 +420,7 @@ void DummyPerceptionPublisherNode::objectCallback(
       }
       break;
     }
-    case dummy_perception_publisher::msg::Object::DELETEALL: {
+    case tier4_simulation_msgs::msg::DummyObject::DELETEALL: {
       objects_.clear();
       break;
     }
diff --git a/simulator/tier4_dummy_object_rviz_plugin/README.md b/simulator/tier4_dummy_object_rviz_plugin/README.md
index 6908b0d9b0bd3..69f91314891c7 100644
--- a/simulator/tier4_dummy_object_rviz_plugin/README.md
+++ b/simulator/tier4_dummy_object_rviz_plugin/README.md
@@ -17,7 +17,7 @@ The DeleteAllObjectsTool deletes the dummy cars, pedestrians, and obstacles disp
 
 | Name                                                 | Type                                      | Description                                     |
 | ---------------------------------------------------- | ----------------------------------------- | ----------------------------------------------- |
-| `/simulation/dummy_perception_publisher/object_info` | `dummy_perception_publisher::msg::Object` | The topic on which to publish dummy object info |
+| `/simulation/dummy_perception_publisher/object_info` | `tier4_simulation_msgs::msg::DummyObject` | The topic on which to publish dummy object info |
 
 ## Parameter
 
diff --git a/simulator/tier4_dummy_object_rviz_plugin/package.xml b/simulator/tier4_dummy_object_rviz_plugin/package.xml
index 8264e087bf6a1..ce0ce0dbb84f7 100644
--- a/simulator/tier4_dummy_object_rviz_plugin/package.xml
+++ b/simulator/tier4_dummy_object_rviz_plugin/package.xml
@@ -10,7 +10,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>dummy_perception_publisher</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
   <depend>libqt5-widgets</depend>
@@ -19,6 +18,7 @@
   <depend>rviz_default_plugins</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
+  <depend>tier4_simulation_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/simulator/tier4_dummy_object_rviz_plugin/src/tools/car_pose.cpp b/simulator/tier4_dummy_object_rviz_plugin/src/tools/car_pose.cpp
index 49da06aa2478e..ae6e2da6cff37 100644
--- a/simulator/tier4_dummy_object_rviz_plugin/src/tools/car_pose.cpp
+++ b/simulator/tier4_dummy_object_rviz_plugin/src/tools/car_pose.cpp
@@ -112,9 +112,9 @@ void CarInitialPoseTool::onInitialize()
   updateTopic();
 }
 
-Object CarInitialPoseTool::createObjectMsg() const
+DummyObject CarInitialPoseTool::createObjectMsg() const
 {
-  Object object{};
+  DummyObject object{};
   std::string fixed_frame = context_->getFixedFrame().toStdString();
 
   // header
@@ -205,9 +205,9 @@ void BusInitialPoseTool::onInitialize()
   updateTopic();
 }
 
-Object BusInitialPoseTool::createObjectMsg() const
+DummyObject BusInitialPoseTool::createObjectMsg() const
 {
-  Object object{};
+  DummyObject object{};
   std::string fixed_frame = context_->getFixedFrame().toStdString();
 
   // header
@@ -302,9 +302,9 @@ void BikeInitialPoseTool::onInitialize()
   updateTopic();
 }
 
-Object BikeInitialPoseTool::createObjectMsg() const
+DummyObject BikeInitialPoseTool::createObjectMsg() const
 {
-  Object object{};
+  DummyObject object{};
   std::string fixed_frame = context_->getFixedFrame().toStdString();
 
   // header
diff --git a/simulator/tier4_dummy_object_rviz_plugin/src/tools/car_pose.hpp b/simulator/tier4_dummy_object_rviz_plugin/src/tools/car_pose.hpp
index 7dbbb65c94560..7a1ebe9db2fe0 100644
--- a/simulator/tier4_dummy_object_rviz_plugin/src/tools/car_pose.hpp
+++ b/simulator/tier4_dummy_object_rviz_plugin/src/tools/car_pose.hpp
@@ -55,14 +55,14 @@ namespace rviz_plugins
 
 using autoware_perception_msgs::msg::ObjectClassification;
 using autoware_perception_msgs::msg::Shape;
-using dummy_perception_publisher::msg::Object;
+using tier4_simulation_msgs::msg::DummyObject;
 
 class CarInitialPoseTool : public InteractiveObjectTool
 {
 public:
   CarInitialPoseTool();
   void onInitialize() override;
-  [[nodiscard]] Object createObjectMsg() const override;
+  [[nodiscard]] DummyObject createObjectMsg() const override;
 };
 
 class BusInitialPoseTool : public InteractiveObjectTool
@@ -70,7 +70,7 @@ class BusInitialPoseTool : public InteractiveObjectTool
 public:
   BusInitialPoseTool();
   void onInitialize() override;
-  [[nodiscard]] Object createObjectMsg() const override;
+  [[nodiscard]] DummyObject createObjectMsg() const override;
 };
 
 class BikeInitialPoseTool : public InteractiveObjectTool
@@ -78,7 +78,7 @@ class BikeInitialPoseTool : public InteractiveObjectTool
 public:
   BikeInitialPoseTool();
   void onInitialize() override;
-  [[nodiscard]] Object createObjectMsg() const override;
+  [[nodiscard]] DummyObject createObjectMsg() const override;
 
 private:
   rviz_common::properties::EnumProperty * label_;
diff --git a/simulator/tier4_dummy_object_rviz_plugin/src/tools/delete_all_objects.cpp b/simulator/tier4_dummy_object_rviz_plugin/src/tools/delete_all_objects.cpp
index 91a1f544c25e8..0857bf85f14c4 100644
--- a/simulator/tier4_dummy_object_rviz_plugin/src/tools/delete_all_objects.cpp
+++ b/simulator/tier4_dummy_object_rviz_plugin/src/tools/delete_all_objects.cpp
@@ -73,7 +73,7 @@ void DeleteAllObjectsTool::onInitialize()
 void DeleteAllObjectsTool::updateTopic()
 {
   rclcpp::Node::SharedPtr raw_node = context_->getRosNodeAbstraction().lock()->get_raw_node();
-  dummy_object_info_pub_ = raw_node->create_publisher<dummy_perception_publisher::msg::Object>(
+  dummy_object_info_pub_ = raw_node->create_publisher<tier4_simulation_msgs::msg::DummyObject>(
     topic_property_->getStdString(), 1);
   clock_ = raw_node->get_clock();
 }
@@ -82,7 +82,7 @@ void DeleteAllObjectsTool::updateTopic()
 void DeleteAllObjectsTool::onPoseSet(
   [[maybe_unused]] double x, [[maybe_unused]] double y, [[maybe_unused]] double theta)
 {
-  dummy_perception_publisher::msg::Object output_msg;
+  tier4_simulation_msgs::msg::DummyObject output_msg;
   std::string fixed_frame = context_->getFixedFrame().toStdString();
 
   // header
@@ -90,7 +90,7 @@ void DeleteAllObjectsTool::onPoseSet(
   output_msg.header.stamp = clock_->now();
 
   // action
-  output_msg.action = dummy_perception_publisher::msg::Object::DELETEALL;
+  output_msg.action = tier4_simulation_msgs::msg::DummyObject::DELETEALL;
 
   dummy_object_info_pub_->publish(output_msg);
 }
diff --git a/simulator/tier4_dummy_object_rviz_plugin/src/tools/delete_all_objects.hpp b/simulator/tier4_dummy_object_rviz_plugin/src/tools/delete_all_objects.hpp
index 11b3e569d326c..3895986a87a1c 100644
--- a/simulator/tier4_dummy_object_rviz_plugin/src/tools/delete_all_objects.hpp
+++ b/simulator/tier4_dummy_object_rviz_plugin/src/tools/delete_all_objects.hpp
@@ -57,7 +57,7 @@
 #include <rviz_default_plugins/tools/pose/pose_tool.hpp>
 #endif
 
-#include <dummy_perception_publisher/msg/object.hpp>
+#include <tier4_simulation_msgs/msg/dummy_object.hpp>
 
 namespace rviz_plugins
 {
@@ -77,7 +77,7 @@ private Q_SLOTS:
 
 private:  // NOLINT for Qt
   rclcpp::Clock::SharedPtr clock_;
-  rclcpp::Publisher<dummy_perception_publisher::msg::Object>::SharedPtr dummy_object_info_pub_;
+  rclcpp::Publisher<tier4_simulation_msgs::msg::DummyObject>::SharedPtr dummy_object_info_pub_;
 
   rviz_common::properties::StringProperty * topic_property_;
 };
diff --git a/simulator/tier4_dummy_object_rviz_plugin/src/tools/interactive_object.cpp b/simulator/tier4_dummy_object_rviz_plugin/src/tools/interactive_object.cpp
index bcd56256bde34..83852d0c85011 100644
--- a/simulator/tier4_dummy_object_rviz_plugin/src/tools/interactive_object.cpp
+++ b/simulator/tier4_dummy_object_rviz_plugin/src/tools/interactive_object.cpp
@@ -252,7 +252,8 @@ void InteractiveObjectTool::onInitialize()
 void InteractiveObjectTool::updateTopic()
 {
   rclcpp::Node::SharedPtr raw_node = context_->getRosNodeAbstraction().lock()->get_raw_node();
-  dummy_object_info_pub_ = raw_node->create_publisher<Object>(topic_property_->getStdString(), 1);
+  dummy_object_info_pub_ =
+    raw_node->create_publisher<DummyObject>(topic_property_->getStdString(), 1);
   clock_ = raw_node->get_clock();
   move_tool_.initialize(context_);
   property_frame_->setFrameManager(context_->getFrameManager());
@@ -280,7 +281,7 @@ void InteractiveObjectTool::onPoseSet(double x, double y, double theta)
   output_msg.initial_state.accel_covariance.accel.linear.z = 0.0;
   output_msg.max_velocity = max_velocity_->getFloat();
   output_msg.min_velocity = min_velocity_->getFloat();
-  output_msg.action = Object::ADD;
+  output_msg.action = DummyObject::ADD;
 
   dummy_object_info_pub_->publish(output_msg);
 }
@@ -292,7 +293,7 @@ void InteractiveObjectTool::publishObjectMsg(
   output_msg.action = action;
   output_msg.id.uuid = uuid;
 
-  if (action == Object::DELETE) {
+  if (action == DummyObject::DELETE) {
     dummy_object_info_pub_->publish(output_msg);
     return;
   }
@@ -321,10 +322,10 @@ int InteractiveObjectTool::processMouseEvent(rviz_common::ViewportMouseEvent & e
     if (point) {
       if (event.shift()) {
         const auto uuid = objects_.create(point.value());
-        publishObjectMsg(uuid.get(), Object::ADD);
+        publishObjectMsg(uuid.get(), DummyObject::ADD);
       } else if (event.alt()) {
         const auto uuid = objects_.remove(point.value());
-        publishObjectMsg(uuid.get(), Object::DELETE);
+        publishObjectMsg(uuid.get(), DummyObject::DELETE);
       } else {
         objects_.select(point.value());
       }
@@ -334,7 +335,7 @@ int InteractiveObjectTool::processMouseEvent(rviz_common::ViewportMouseEvent & e
 
   if (event.rightUp()) {
     const auto uuid = objects_.reset();
-    publishObjectMsg(uuid.get(), Object::MODIFY);
+    publishObjectMsg(uuid.get(), DummyObject::MODIFY);
     return 0;
   }
 
@@ -342,7 +343,7 @@ int InteractiveObjectTool::processMouseEvent(rviz_common::ViewportMouseEvent & e
     const auto point = get_point_from_mouse(event);
     if (point) {
       const auto uuid = objects_.update(point.value());
-      publishObjectMsg(uuid.get(), Object::MODIFY);
+      publishObjectMsg(uuid.get(), DummyObject::MODIFY);
     }
     return 0;
   }
diff --git a/simulator/tier4_dummy_object_rviz_plugin/src/tools/interactive_object.hpp b/simulator/tier4_dummy_object_rviz_plugin/src/tools/interactive_object.hpp
index c0942d9a6cdd1..fb35ab98da9a3 100644
--- a/simulator/tier4_dummy_object_rviz_plugin/src/tools/interactive_object.hpp
+++ b/simulator/tier4_dummy_object_rviz_plugin/src/tools/interactive_object.hpp
@@ -61,9 +61,8 @@
 #include <rviz_default_plugins/tools/pose/pose_tool.hpp>
 #endif
 
-#include <dummy_perception_publisher/msg/object.hpp>
-
 #include <geometry_msgs/msg/twist.hpp>
+#include <tier4_simulation_msgs/msg/dummy_object.hpp>
 
 #include <boost/optional.hpp>
 
@@ -84,7 +83,7 @@ namespace rviz_plugins
 
 using autoware_perception_msgs::msg::ObjectClassification;
 using autoware_perception_msgs::msg::Shape;
-using dummy_perception_publisher::msg::Object;
+using tier4_simulation_msgs::msg::DummyObject;
 
 class InteractiveObject
 {
@@ -138,14 +137,14 @@ class InteractiveObjectTool : public rviz_default_plugins::tools::PoseTool
   int processMouseEvent(rviz_common::ViewportMouseEvent & event) override;
   int processKeyEvent(QKeyEvent * event, rviz_common::RenderPanel * panel) override;
 
-  [[nodiscard]] virtual Object createObjectMsg() const = 0;
+  [[nodiscard]] virtual DummyObject createObjectMsg() const = 0;
 
 protected Q_SLOTS:
   virtual void updateTopic();
 
 protected:  // NOLINT for Qt
   rclcpp::Clock::SharedPtr clock_;
-  rclcpp::Publisher<Object>::SharedPtr dummy_object_info_pub_;
+  rclcpp::Publisher<DummyObject>::SharedPtr dummy_object_info_pub_;
 
   rviz_default_plugins::tools::MoveTool move_tool_;
 
diff --git a/simulator/tier4_dummy_object_rviz_plugin/src/tools/pedestrian_pose.cpp b/simulator/tier4_dummy_object_rviz_plugin/src/tools/pedestrian_pose.cpp
index 52b432661467a..5510d17e06727 100644
--- a/simulator/tier4_dummy_object_rviz_plugin/src/tools/pedestrian_pose.cpp
+++ b/simulator/tier4_dummy_object_rviz_plugin/src/tools/pedestrian_pose.cpp
@@ -103,9 +103,9 @@ void PedestrianInitialPoseTool::onInitialize()
   updateTopic();
 }
 
-Object PedestrianInitialPoseTool::createObjectMsg() const
+DummyObject PedestrianInitialPoseTool::createObjectMsg() const
 {
-  Object object{};
+  DummyObject object{};
   std::string fixed_frame = context_->getFixedFrame().toStdString();
 
   // header
diff --git a/simulator/tier4_dummy_object_rviz_plugin/src/tools/pedestrian_pose.hpp b/simulator/tier4_dummy_object_rviz_plugin/src/tools/pedestrian_pose.hpp
index 642159aceaf3d..b9fc38c7a400a 100644
--- a/simulator/tier4_dummy_object_rviz_plugin/src/tools/pedestrian_pose.hpp
+++ b/simulator/tier4_dummy_object_rviz_plugin/src/tools/pedestrian_pose.hpp
@@ -55,14 +55,14 @@ namespace rviz_plugins
 
 using autoware_perception_msgs::msg::ObjectClassification;
 using autoware_perception_msgs::msg::Shape;
-using dummy_perception_publisher::msg::Object;
+using tier4_simulation_msgs::msg::DummyObject;
 
 class PedestrianInitialPoseTool : public InteractiveObjectTool
 {
 public:
   PedestrianInitialPoseTool();
   void onInitialize() override;
-  [[nodiscard]] Object createObjectMsg() const override;
+  [[nodiscard]] DummyObject createObjectMsg() const override;
 };
 
 }  // namespace rviz_plugins
diff --git a/simulator/tier4_dummy_object_rviz_plugin/src/tools/unknown_pose.cpp b/simulator/tier4_dummy_object_rviz_plugin/src/tools/unknown_pose.cpp
index 2060dc1a456e5..59b981b66c0b6 100644
--- a/simulator/tier4_dummy_object_rviz_plugin/src/tools/unknown_pose.cpp
+++ b/simulator/tier4_dummy_object_rviz_plugin/src/tools/unknown_pose.cpp
@@ -98,9 +98,9 @@ void UnknownInitialPoseTool::onInitialize()
   updateTopic();
 }
 
-Object UnknownInitialPoseTool::createObjectMsg() const
+DummyObject UnknownInitialPoseTool::createObjectMsg() const
 {
-  Object object{};
+  DummyObject object{};
   std::string fixed_frame = context_->getFixedFrame().toStdString();
 
   // header
diff --git a/simulator/tier4_dummy_object_rviz_plugin/src/tools/unknown_pose.hpp b/simulator/tier4_dummy_object_rviz_plugin/src/tools/unknown_pose.hpp
index 3f1a9b55c30ab..8526a7f995642 100644
--- a/simulator/tier4_dummy_object_rviz_plugin/src/tools/unknown_pose.hpp
+++ b/simulator/tier4_dummy_object_rviz_plugin/src/tools/unknown_pose.hpp
@@ -50,14 +50,14 @@ namespace rviz_plugins
 
 using autoware_perception_msgs::msg::ObjectClassification;
 using autoware_perception_msgs::msg::Shape;
-using dummy_perception_publisher::msg::Object;
+using tier4_simulation_msgs::msg::DummyObject;
 
 class UnknownInitialPoseTool : public InteractiveObjectTool
 {
 public:
   UnknownInitialPoseTool();
   void onInitialize() override;
-  [[nodiscard]] Object createObjectMsg() const override;
+  [[nodiscard]] DummyObject createObjectMsg() const override;
 };
 
 }  // namespace rviz_plugins