diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
index 98c420e288087..e8661322215fe 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
@@ -124,7 +124,7 @@ def launch_setup(context, *args, **kwargs):
             {
                 "input_topic": "obstacle_avoidance_planner/trajectory",
                 "output_topic": "surround_obstacle_checker/trajectory",
-                "type": "autoware_planning_msgs/msg/Trajectory",
+                "type": "autoware_auto_planning_msgs/msg/Trajectory",
             }
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
index 44e5b55c46de3..5cb0b0032e71c 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
@@ -32,7 +32,7 @@
     <node pkg="topic_tools" exec="relay" name="skip_surround_obstacle_check_relay" output="log">
       <param name="input_topic" value="obstacle_avoidance_planner/trajectory" />
       <param name="output_topic" value="surround_obstacle_checker/trajectory" />
-      <param name="type" value="autoware_planning_msgs/msg/Trajectory" />
+      <param name="type" value="autoware_auto_planning_msgs/msg/Trajectory" />
     </node>
   </group>