diff --git a/simulator/autoware_auto_msgs_adapter/README.md b/simulator/autoware_auto_msgs_adapter/README.md
index fb996ee91aab5..ab1a00d09a705 100644
--- a/simulator/autoware_auto_msgs_adapter/README.md
+++ b/simulator/autoware_auto_msgs_adapter/README.md
@@ -27,7 +27,7 @@ in the `autoware_auto_msgs_adapter/config` directory. Example configuration:
 ```yaml
 /**:
   ros__parameters:
-    msg_type_target: "autoware_auto_control_msgs::msg::AckermannControlCommand"
+    msg_type_target: "autoware_auto_control_msgs/msg/AckermannControlCommand"
     topic_name_source: "/control/command/control_cmd"
     topic_name_target: "/control/command/control_cmd_auto"
 ```
diff --git a/simulator/autoware_auto_msgs_adapter/config/adapter_control.param.yaml b/simulator/autoware_auto_msgs_adapter/config/adapter_control.param.yaml
index 614826f148d46..4c6d5f101f380 100644
--- a/simulator/autoware_auto_msgs_adapter/config/adapter_control.param.yaml
+++ b/simulator/autoware_auto_msgs_adapter/config/adapter_control.param.yaml
@@ -1,5 +1,5 @@
 /**:
   ros__parameters:
-    msg_type_target: "autoware_auto_control_msgs::msg::AckermannControlCommand"
+    msg_type_target: "autoware_auto_control_msgs/msg/AckermannControlCommand"
     topic_name_source: "/control/command/control_cmd"
     topic_name_target: "/control/command/control_cmd_auto"
diff --git a/simulator/autoware_auto_msgs_adapter/src/autoware_auto_msgs_adapter_core.cpp b/simulator/autoware_auto_msgs_adapter/src/autoware_auto_msgs_adapter_core.cpp
index e4b0f94455a52..70a48965e8715 100644
--- a/simulator/autoware_auto_msgs_adapter/src/autoware_auto_msgs_adapter_core.cpp
+++ b/simulator/autoware_auto_msgs_adapter/src/autoware_auto_msgs_adapter_core.cpp
@@ -31,7 +31,7 @@ AutowareAutoMsgsAdapterNode::AutowareAutoMsgsAdapterNode(const rclcpp::NodeOptio
   const std::string topic_name_source = declare_parameter<std::string>("topic_name_source");
   const std::string topic_name_target = declare_parameter<std::string>("topic_name_target");
 
-  if (msg_type_target == "autoware_auto_control_msgs::msg::AckermannControlCommand") {
+  if (msg_type_target == "autoware_auto_control_msgs/msg/AckermannControlCommand") {
     AdapterControl::SharedPtr adapter =
       std::make_shared<AdapterControl>(*this, topic_name_source, topic_name_target);
     adapter_ = std::static_pointer_cast<AdapterBaseInterface>(adapter);