diff --git a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
index 641ea40dd30c1..44a0c36f4071f 100644
--- a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
+++ b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
@@ -78,6 +78,7 @@ BigVehicleTracker::BigVehicleTracker(
   X(IDX::Y) = object.kinematics.pose_with_covariance.pose.position.y;
   X(IDX::YAW) = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation);
   if (object.kinematics.has_twist) {
+    std::cerr << "Big Vehicle Radar Included" << std::endl;
     X(IDX::VX) = object.kinematics.twist_with_covariance.twist.linear.x;
     X(IDX::WZ) = object.kinematics.twist_with_covariance.twist.angular.z;
   } else {
diff --git a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
index 1d4436f4886ea..6beda3c4fac1f 100644
--- a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
+++ b/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
@@ -78,6 +78,7 @@ NormalVehicleTracker::NormalVehicleTracker(
   X(IDX::Y) = object.kinematics.pose_with_covariance.pose.position.y;
   X(IDX::YAW) = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation);
   if (object.kinematics.has_twist) {
+    std::cerr << "Radar Data Is Included" << std::endl;
     X(IDX::VX) = object.kinematics.twist_with_covariance.twist.linear.x;
     X(IDX::WZ) = object.kinematics.twist_with_covariance.twist.angular.z;
   } else {
diff --git a/perception/radar_fusion_to_detected_object/CMakeLists.txt b/perception/radar_fusion_to_detected_object/CMakeLists.txt
index ec089e654a904..f279380f46204 100644
--- a/perception/radar_fusion_to_detected_object/CMakeLists.txt
+++ b/perception/radar_fusion_to_detected_object/CMakeLists.txt
@@ -13,8 +13,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 ## Dependencies
-find_package(autoware_cmake REQUIRED)
-autoware_package()
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
 
 ## Targets
 ament_auto_add_library(radar_object_fusion_to_detected_object_node_component SHARED
diff --git a/perception/radar_tracks_msgs_converter/CMakeLists.txt b/perception/radar_tracks_msgs_converter/CMakeLists.txt
index f112b55bb0c6f..82c9714c0dc71 100644
--- a/perception/radar_tracks_msgs_converter/CMakeLists.txt
+++ b/perception/radar_tracks_msgs_converter/CMakeLists.txt
@@ -1,8 +1,8 @@
 cmake_minimum_required(VERSION 3.5)
 project(radar_tracks_msgs_converter)
 
-find_package(autoware_cmake REQUIRED)
-autoware_package()
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
 
 ## Compile options
 if(NOT CMAKE_CXX_STANDARD)
diff --git a/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp b/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
index 946f67c4e8d5c..804d5cc522817 100644
--- a/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
+++ b/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
@@ -16,11 +16,7 @@
 
 #include <tf2/utils.h>
 
-#ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#else
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#endif
 
 #include <memory>
 #include <string>