diff --git a/sensing/autoware_pointcloud_preprocessor/src/filter.cpp b/sensing/autoware_pointcloud_preprocessor/src/filter.cpp
index 854e93ed52ebc..de6549463e7ff 100644
--- a/sensing/autoware_pointcloud_preprocessor/src/filter.cpp
+++ b/sensing/autoware_pointcloud_preprocessor/src/filter.cpp
@@ -359,19 +359,12 @@ bool autoware::pointcloud_preprocessor::Filter::convert_output_costly(
 void autoware::pointcloud_preprocessor::Filter::faster_input_indices_callback(
   const PointCloud2ConstPtr cloud, const PointIndicesConstPtr indices)
 {
-  // TODO(knzo25): This first branch is to give temporary compatibility with old perception data.
-  // Should be deleted soon
-  if (utils::is_data_layout_compatible_with_point_xyzi(*cloud)) {
-    RCLCPP_ERROR_THROTTLE(
-      get_logger(), *get_clock(), 10000,
-      "The pointcloud layout is compatible with PointXYZI. You may be using legacy "
-      "code/data. Continue at your own risk");
-  } else if (
+  if (
     !utils::is_data_layout_compatible_with_point_xyzircaedt(*cloud) &&
     !utils::is_data_layout_compatible_with_point_xyzirc(*cloud)) {
     RCLCPP_ERROR(
       get_logger(),
-      "The pointcloud layout is not compatible with PointXYZIRCAEDT/PointXYZIRC. Aborting");
+      "The pointcloud layout is not compatible with PointXYZIRCAEDT or PointXYZIRC. Aborting");
 
     if (utils::is_data_layout_compatible_with_point_xyziradrt(*cloud)) {
       RCLCPP_ERROR(