diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
index 351bb53087dd0..2d2d55d4fb294 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
+++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
@@ -135,8 +135,8 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt
     std::bind(&SimplePlanningSimulator::on_parameter, this, _1));
 
   timer_sampling_time_ms_ = static_cast<uint32_t>(declare_parameter("timer_sampling_time_ms", 25));
-  on_timer_ = create_wall_timer(
-    std::chrono::milliseconds(timer_sampling_time_ms_),
+  on_timer_ = rclcpp::create_timer(
+    this, get_clock(), std::chrono::milliseconds(timer_sampling_time_ms_),
     std::bind(&SimplePlanningSimulator::on_timer, this));
 
   tier4_api_utils::ServiceProxyNodeInterface proxy(this);