diff --git a/autoware_iv_external_api_adaptor/package.xml b/autoware_iv_external_api_adaptor/package.xml
index 0a46882..9d87f46 100644
--- a/autoware_iv_external_api_adaptor/package.xml
+++ b/autoware_iv_external_api_adaptor/package.xml
@@ -12,11 +12,11 @@
 
   <depend>autoware_ad_api_specs</depend>
   <depend>autoware_component_interface_specs</depend>
+  <depend>autoware_component_interface_utils</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_external_api_msgs</depend>
   <depend>autoware_system_msgs</depend>
   <depend>autoware_vehicle_msgs</depend>
-  <depend>component_interface_utils</depend>
   <depend>nlohmann-json-dev</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/autoware_iv_external_api_adaptor/src/initial_pose.cpp b/autoware_iv_external_api_adaptor/src/initial_pose.cpp
index 3e769b3..726ef3c 100644
--- a/autoware_iv_external_api_adaptor/src/initial_pose.cpp
+++ b/autoware_iv_external_api_adaptor/src/initial_pose.cpp
@@ -52,7 +52,7 @@ InitialPose::InitialPose(const rclcpp::NodeOptions & options)
     std::bind(&InitialPose::setInitializePoseAuto, this, _1, _2), rmw_qos_profile_services_default,
     group_);
 
-  const auto adaptor = component_interface_utils::NodeAdaptor(this);
+  const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this);
   adaptor.init_cli(cli_localization_initialize_);
 }
 
@@ -70,7 +70,7 @@ void InitialPose::setInitializePose(
   try {
     const auto res = cli_localization_initialize_->call(req, initial_pose_timeout);
     response->status = converter::convert(res->status);
-  } catch (const component_interface_utils::ServiceException & error) {
+  } catch (const autoware::component_interface_utils::ServiceException & error) {
     response->status = tier4_api_utils::response_error(error.what());
   }
 }
@@ -87,7 +87,7 @@ void InitialPose::setInitializePoseAuto(
   try {
     const auto res = cli_localization_initialize_->call(req, initial_pose_timeout);
     response->status = converter::convert(res->status);
-  } catch (const component_interface_utils::ServiceException & error) {
+  } catch (const autoware::component_interface_utils::ServiceException & error) {
     response->status = tier4_api_utils::response_error(error.what());
   }
 }
diff --git a/autoware_iv_external_api_adaptor/src/initial_pose.hpp b/autoware_iv_external_api_adaptor/src/initial_pose.hpp
index c4bd49c..7a5084d 100644
--- a/autoware_iv_external_api_adaptor/src/initial_pose.hpp
+++ b/autoware_iv_external_api_adaptor/src/initial_pose.hpp
@@ -16,7 +16,7 @@
 #define INITIAL_POSE_HPP_
 
 #include <autoware/component_interface_specs/localization.hpp>
-#include <component_interface_utils/rclcpp.hpp>
+#include <autoware/component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_api_utils/tier4_api_utils.hpp>
 
@@ -39,7 +39,7 @@ class InitialPose : public rclcpp::Node
   rclcpp::CallbackGroup::SharedPtr group_;
   tier4_api_utils::Service<InitializePose>::SharedPtr srv_set_initialize_pose_;
   tier4_api_utils::Service<InitializePoseAuto>::SharedPtr srv_set_initialize_pose_auto_;
-  component_interface_utils::Client<autoware::component_interface_specs::localization::Initialize>::
+  autoware::component_interface_utils::Client<autoware::component_interface_specs::localization::Initialize>::
     SharedPtr cli_localization_initialize_;
 
   // ros callback
diff --git a/autoware_iv_external_api_adaptor/src/route.cpp b/autoware_iv_external_api_adaptor/src/route.cpp
index 5f06e48..9dac0fc 100644
--- a/autoware_iv_external_api_adaptor/src/route.cpp
+++ b/autoware_iv_external_api_adaptor/src/route.cpp
@@ -43,7 +43,7 @@ Route::Route(const rclcpp::NodeOptions & options) : Node("external_api_route", o
 
   // adapi
   {
-    const auto adaptor = component_interface_utils::NodeAdaptor(this);
+    const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this);
     adaptor.init_cli(cli_clear_route_);
     adaptor.init_cli(cli_set_route_);
     adaptor.init_sub(sub_get_route_, this, &Route::onRoute);
@@ -66,7 +66,7 @@ void Route::setRoute(
     *req = converter::convert(*request);
     const auto res = cli_set_route_->call(req);
     response->status = converter::convert(res->status);
-  } catch (const component_interface_utils::ServiceException & error) {
+  } catch (const autoware::component_interface_utils::ServiceException & error) {
     response->status = tier4_api_utils::response_error(error.what());
   }
 }
@@ -79,7 +79,7 @@ void Route::clearRoute(
     const auto req = std::make_shared<autoware_ad_api::routing::ClearRoute::Service::Request>();
     const auto res = cli_clear_route_->call(req);
     response->status = converter::convert(res->status);
-  } catch (const component_interface_utils::ServiceException & error) {
+  } catch (const autoware::component_interface_utils::ServiceException & error) {
     response->status = tier4_api_utils::response_error(error.what());
   }
 }
diff --git a/autoware_iv_external_api_adaptor/src/route.hpp b/autoware_iv_external_api_adaptor/src/route.hpp
index fe32e19..945a364 100644
--- a/autoware_iv_external_api_adaptor/src/route.hpp
+++ b/autoware_iv_external_api_adaptor/src/route.hpp
@@ -15,8 +15,8 @@
 #ifndef ROUTE_HPP_
 #define ROUTE_HPP_
 
+#include "autoware/component_interface_utils/rclcpp.hpp"
 #include "autoware_ad_api_specs/routing.hpp"
-#include "component_interface_utils/rclcpp.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tier4_api_utils/tier4_api_utils.hpp"
 
@@ -44,10 +44,10 @@ class Route : public rclcpp::Node
   tier4_api_utils::Service<SetRoute>::SharedPtr srv_set_route_;
   tier4_api_utils::Service<ClearRoute>::SharedPtr srv_clear_route_;
   rclcpp::Publisher<RouteMsg>::SharedPtr pub_get_route_;
-  component_interface_utils::Client<autoware_ad_api::routing::ClearRoute>::SharedPtr
+  autoware::component_interface_utils::Client<autoware_ad_api::routing::ClearRoute>::SharedPtr
     cli_clear_route_;
-  component_interface_utils::Client<autoware_ad_api::routing::SetRoute>::SharedPtr cli_set_route_;
-  component_interface_utils::Subscription<autoware_ad_api::routing::Route>::SharedPtr
+  autoware::component_interface_utils::Client<autoware_ad_api::routing::SetRoute>::SharedPtr cli_set_route_;
+  autoware::component_interface_utils::Subscription<autoware_ad_api::routing::Route>::SharedPtr
     sub_get_route_;
 
   // ros callback