diff --git a/planning/mission_planner/README.md b/planning/mission_planner/README.md
index 3d0f837558104..2ea8b96b1cfd2 100644
--- a/planning/mission_planner/README.md
+++ b/planning/mission_planner/README.md
@@ -25,15 +25,15 @@ In current Autoware.universe, only Lanelet2 map format is supported.
 
 ### Services
 
-| Name                                             | Type                                              | Description                                 |
-| ------------------------------------------------ | ------------------------------------------------- | ------------------------------------------- |
-| `/planning/mission_planning/clear_route`         | autoware_adapi_v1_msgs/srv/ClearRoute             | route clear request                         |
-| `/planning/mission_planning/set_route_points`    | autoware_adapi_v1_msgs/srv/SetRoutePoints         | route request with pose waypoints           |
-| `/planning/mission_planning/set_route`           | autoware_adapi_v1_msgs/srv/SetRoute               | route request with lanelet waypoints        |
-| `/planning/mission_planning/change_route_points` | autoware_adapi_v1_msgs/srv/SetRoutePoints         | route change request with pose waypoints    |
-| `/planning/mission_planning/change_route`        | autoware_adapi_v1_msgs/srv/SetRoute               | route change request with lanelet waypoints |
-| `~/srv/set_mrm_route`                            | autoware_planning_msgs/srv/SetPoseWithUuidStamped | set emergency route                         |
-| `~/srv/clear_mrm_route`                          | std_srvs/srv/Trigger                              | clear emergency route                       |
+| Name                                             | Type                                      | Description                                 |
+| ------------------------------------------------ | ----------------------------------------- | ------------------------------------------- |
+| `/planning/mission_planning/clear_route`         | autoware_adapi_v1_msgs/srv/ClearRoute     | route clear request                         |
+| `/planning/mission_planning/set_route_points`    | autoware_adapi_v1_msgs/srv/SetRoutePoints | route request with pose waypoints           |
+| `/planning/mission_planning/set_route`           | autoware_adapi_v1_msgs/srv/SetRoute       | route request with lanelet waypoints        |
+| `/planning/mission_planning/change_route_points` | autoware_adapi_v1_msgs/srv/SetRoutePoints | route change request with pose waypoints    |
+| `/planning/mission_planning/change_route`        | autoware_adapi_v1_msgs/srv/SetRoute       | route change request with lanelet waypoints |
+| `~/srv/set_mrm_route`                            | autoware_adapi_v1_msgs/srv/SetRoutePoints | set emergency route                         |
+| `~/srv/clear_mrm_route`                          | std_srvs/srv/Trigger                      | clear emergency route                       |
 
 ### Subscriptions
 
diff --git a/planning/mission_planner/include/mission_planner/mission_planner_interface.hpp b/planning/mission_planner/include/mission_planner/mission_planner_interface.hpp
index 5897c0232c167..916dabfdbba2b 100644
--- a/planning/mission_planner/include/mission_planner/mission_planner_interface.hpp
+++ b/planning/mission_planner/include/mission_planner/mission_planner_interface.hpp
@@ -17,8 +17,8 @@
 
 #include <rclcpp/qos.hpp>
 
+#include <autoware_adapi_v1_msgs/srv/set_route_points.hpp>
 #include <autoware_planning_msgs/msg/pose_with_uuid_stamped.hpp>
-#include <autoware_planning_msgs/srv/set_pose_with_uuid_stamped.hpp>
 #include <std_srvs/srv/trigger.hpp>
 
 namespace mission_planner
@@ -26,7 +26,7 @@ namespace mission_planner
 
 struct SetMrmRoute
 {
-  using Service = autoware_planning_msgs::srv::SetPoseWithUuidStamped;
+  using Service = autoware_adapi_v1_msgs::srv::SetRoutePoints;
   static constexpr char name[] = "~/srv/set_mrm_route";
 };