diff --git a/perception/tracking_object_merger/CMakeLists.txt b/perception/tracking_object_merger/CMakeLists.txt
index db327b48f0ecd..7e7c698365922 100644
--- a/perception/tracking_object_merger/CMakeLists.txt
+++ b/perception/tracking_object_merger/CMakeLists.txt
@@ -24,7 +24,7 @@ include_directories(
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/association/data_association.cpp
-  src/association/mu_ssp/mu_successive_shortest_path_wrapper.cpp
+  src/association/solver/mu_successive_shortest_path_wrapper.cpp
   src/decorative_tracker_merger_node.cpp
   src/utils/utils.cpp
   src/utils/tracker_state.cpp
diff --git a/perception/tracking_object_merger/package.xml b/perception/tracking_object_merger/package.xml
index 370f5beb3e3b3..cc23578773fe2 100644
--- a/perception/tracking_object_merger/package.xml
+++ b/perception/tracking_object_merger/package.xml
@@ -23,7 +23,6 @@
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_perception_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/perception/tracking_object_merger/src/association/mu_ssp/mu_successive_shortest_path_wrapper.cpp b/perception/tracking_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp
similarity index 100%
rename from perception/tracking_object_merger/src/association/mu_ssp/mu_successive_shortest_path_wrapper.cpp
rename to perception/tracking_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp
diff --git a/perception/tracking_object_merger/src/association/ssp/successive_shortest_path.cpp b/perception/tracking_object_merger/src/association/solver/successive_shortest_path.cpp
similarity index 100%
rename from perception/tracking_object_merger/src/association/ssp/successive_shortest_path.cpp
rename to perception/tracking_object_merger/src/association/solver/successive_shortest_path.cpp