diff --git a/localization/stop_filter/src/stop_filter.cpp b/localization/stop_filter/src/stop_filter.cpp
index 12e0729cc268b..111d460be737e 100644
--- a/localization/stop_filter/src/stop_filter.cpp
+++ b/localization/stop_filter/src/stop_filter.cpp
@@ -22,12 +22,6 @@
 #include <string>
 #include <utility>
 
-// clang-format off
-#define PRINT_MAT(X) std::cout << #X << ":\n" << X << std::endl << std::endl
-#define DEBUG_INFO(...) {if (show_debug_info_) {RCLCPP_INFO(__VA_ARGS__);}}
-#define DEBUG_PRINT_MAT(X) {if (show_debug_info_) {std::cout << #X << ": " << X << std::endl;}}
-
-// clang-format on
 using std::placeholders::_1;
 
 StopFilter::StopFilter(const std::string & node_name, const rclcpp::NodeOptions & node_options)
diff --git a/localization/twist2accel/src/twist2accel.cpp b/localization/twist2accel/src/twist2accel.cpp
index 85427abce5ec7..a8a7d46f57056 100644
--- a/localization/twist2accel/src/twist2accel.cpp
+++ b/localization/twist2accel/src/twist2accel.cpp
@@ -22,12 +22,6 @@
 #include <string>
 #include <utility>
 
-// clang-format off
-#define PRINT_MAT(X) std::cout << #X << ":\n" << X << std::endl << std::endl
-#define DEBUG_INFO(...) {if (show_debug_info_) {RCLCPP_INFO(__VA_ARGS__);}}
-#define DEBUG_PRINT_MAT(X) {if (show_debug_info_) {std::cout << #X << ": " << X << std::endl;}}
-
-// clang-format on
 using std::placeholders::_1;
 
 Twist2Accel::Twist2Accel(const std::string & node_name, const rclcpp::NodeOptions & node_options)