diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7d292d1..3b83218 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,7 +9,6 @@ set(msg_files
   "msg/MissionRemainingDistanceTime.msg"
   "msg/ResourceUsageReport.msg"
   "msg/SegmentationMask.msg"
-  "msg/SegmentationConfig.msg"
 )
 
 set(msg_dependencies
diff --git a/msg/SegmentationConfig.msg b/msg/SegmentationConfig.msg
deleted file mode 100644
index 756979c..0000000
--- a/msg/SegmentationConfig.msg
+++ /dev/null
@@ -1,7 +0,0 @@
-# It represent map between instance segmentation mask and labels
-# The pixel intensities in mask's starts with 1 (pixel value 0 represent pixel is not belong any object)
-#     `classification[0]` returns the `label_id` for pixels with an intensity value of `1` in the mask.
-#     `classification[1]` returns the `label_id` for pixels with an intensity value of `2` in the mask.
-#     ...
-# The relationship between pixels and label IDs continues in this way.
-autoware_perception_msgs/ObjectClassification[] classification
diff --git a/msg/SegmentationMask.msg b/msg/SegmentationMask.msg
index 1ce1010..957c02e 100644
--- a/msg/SegmentationMask.msg
+++ b/msg/SegmentationMask.msg
@@ -1,5 +1,11 @@
 std_msgs/Header header
 
-SegmentationConfig config # Stores relation between class and image intensity
+# It represent map between instance segmentation mask and labels
+# The pixel intensities in mask's starts with 1 (pixel value 0 represent pixel is not belong any object)
+#     `classification[0]` returns the `label_id` for pixels with an intensity value of `1` in the mask.
+#     `classification[1]` returns the `label_id` for pixels with an intensity value of `2` in the mask.
+#     ...
+# The relationship between pixels and label IDs continues in this way.
+autoware_perception_msgs/ObjectClassification[] classification
 
 sensor_msgs/Image image # Mask image