diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
index d93c88e381b14..b0cad0282cf9a 100644
--- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
+++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
@@ -110,10 +110,10 @@ void AutowareStatePanel::onInitialize()
     "/vehicle/status/gear_status", 10, std::bind(&AutowareStatePanel::onShift, this, _1));
 
   sub_engage_ = raw_node_->create_subscription<tier4_external_api_msgs::msg::EngageStatus>(
-    "/api/external/get/engage", 10, std::bind(&AutowareStatePanel::onEngageStatus, this, _1));
+    "/api/autoware/get/engage", 10, std::bind(&AutowareStatePanel::onEngageStatus, this, _1));
 
   client_engage_ = raw_node_->create_client<tier4_external_api_msgs::srv::Engage>(
-    "/api/external/set/engage", rmw_qos_profile_services_default);
+    "/api/autoware/set/engage", rmw_qos_profile_services_default);
 }
 
 void AutowareStatePanel::onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg)