diff --git a/simulator/simple_planning_simulator/design/simple_planning_simulator-design.md b/simulator/simple_planning_simulator/design/simple_planning_simulator-design.md
index 5399fe67bdf86..c12d13cb0177e 100644
--- a/simulator/simple_planning_simulator/design/simple_planning_simulator-design.md
+++ b/simulator/simple_planning_simulator/design/simple_planning_simulator-design.md
@@ -17,16 +17,24 @@ The purpose of this simulator is for the integration test of planning and contro
 
 ### input
 
-- input/vehicle_control_command [`autoware_auto_msgs/msg/VehicleControlCommand`] : target command to drive a vehicle.
-- input/ackermann_control_command [`autoware_auto_msgs/msg/AckermannControlCommand`] : target command to drive a vehicle.
-- input/vehicle_state_command [`autoware_auto_msgs/msg/VehicleStateCommand`] : target state command (e.g. gear).
 - /initialpose [`geometry_msgs/msg/PoseWithCovarianceStamped`] : for initial pose
+- input/ackermann_control_command [`autoware_auto_msgs/msg/AckermannControlCommand`] : target command to drive a vehicle
+- input/manual_ackermann_control_command [`autoware_auto_msgs/msg/AckermannControlCommand`] : manual target command to drive a vehicle (used when control_mode_request = Manual)
+- input/gear_command [`autoware_auto_vehicle_msgs/msg/GearCommand`] : target gear command.
+- input/manual_gear_command [`autoware_auto_vehicle_msgs/msg/GearCommand`] : target gear command (used when control_mode_request = Manual)
+- input/turn_indicators_command [`autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand`] : target turn indicator command
+- input/hazard_lights_command [`autoware_auto_vehicle_msgs/msg/HazardLightsCommand`] : target hazard lights command
+- input/control_mode_request [`tier4_vehicle_msgs::srv::ControlModeRequest`] : mode change for Auto/Manual driving
 
 ### output
 
 - /tf [`tf2_msgs/msg/TFMessage`] : simulated vehicle pose (base_link)
-- /vehicle/vehicle_kinematic_state [`autoware_auto_msgs/msg/VehicleKinematicState`] : simulated kinematic state (defined in CoM)
-- /vehicle/state_report [`autoware_auto_msgs/msg/VehicleStateReport`] : current vehicle state (e.g. gear, mode, etc.)
+- /output/odometry [`nav_msgs/msg/Odometry`] : simulated vehicle pose and twist
+- /output/steering [`autoware_auto_vehicle_msgs/msg/SteeringReport`] : simulated steering angle
+- /output/control_mode_report [`autoware_auto_vehicle_msgs/msg/ControlModeReport`] : current control mode (Auto/Manual)
+- /output/gear_report [`autoware_auto_vehicle_msgs/msg/ControlModeReport`] : simulated gear
+- /output/turn_indicators_report [`autoware_auto_vehicle_msgs/msg/ControlModeReport`] : simulated turn indicator status
+- /output/hazard_lights_report [`autoware_auto_vehicle_msgs/msg/ControlModeReport`] : simulated hazard lights status
 
 ## Inner-workings / Algorithms
 
diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
index 1ef3ea9d845ad..06585ec751981 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
+++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
@@ -109,7 +109,7 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt
     "input/trajectory", QoS{1}, std::bind(&SimplePlanningSimulator::on_trajectory, this, _1));
 
   srv_mode_req_ = create_service<tier4_vehicle_msgs::srv::ControlModeRequest>(
-    "control_mode_request",
+    "input/control_mode_request",
     std::bind(&SimplePlanningSimulator::on_control_mode_request, this, _1, _2));
 
   // TODO(Horibe): will be replaced by mode_request. May still be needed for scenario testing