diff --git a/control/vehicle_cmd_gate/script/delays_checker.py b/control/vehicle_cmd_gate/script/delays_checker.py
index 72cc2307ac270..1f2633f73dd68 100644
--- a/control/vehicle_cmd_gate/script/delays_checker.py
+++ b/control/vehicle_cmd_gate/script/delays_checker.py
@@ -14,7 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from autoware_auto_control_msgs.msg import Control
+from autoware_control_msgs.msg import Control
 from autoware_auto_vehicle_msgs.msg import Engage
 from geometry_msgs.msg import AccelWithCovarianceStamped
 from nav_msgs.msg import Odometry
diff --git a/planning/planning_debug_tools/scripts/closest_velocity_checker.py b/planning/planning_debug_tools/scripts/closest_velocity_checker.py
index a1021ff4db065..15e61613376b9 100755
--- a/planning/planning_debug_tools/scripts/closest_velocity_checker.py
+++ b/planning/planning_debug_tools/scripts/closest_velocity_checker.py
@@ -16,7 +16,7 @@
 
 import time
 
-from autoware_auto_control_msgs.msg import Control
+from autoware_control_msgs.msg import Control
 from autoware_auto_planning_msgs.msg import Path
 from autoware_auto_planning_msgs.msg import PathWithLaneId
 from autoware_auto_planning_msgs.msg import Trajectory
diff --git a/tools/simulator_test/simulator_compatibility_test/simulator_compatibility_test/publishers/ackermann_control_command.py b/tools/simulator_test/simulator_compatibility_test/simulator_compatibility_test/publishers/ackermann_control_command.py
index be77088e660c7..bc2ac0ad20b4a 100644
--- a/tools/simulator_test/simulator_compatibility_test/simulator_compatibility_test/publishers/ackermann_control_command.py
+++ b/tools/simulator_test/simulator_compatibility_test/simulator_compatibility_test/publishers/ackermann_control_command.py
@@ -1,6 +1,5 @@
-from autoware_auto_control_msgs.msg import Control
-from autoware_auto_control_msgs.msg import Lateral
-from autoware_auto_control_msgs.msg import LongitudinalCommand
+from autoware_control_msgs.msg import Control
+from autoware_control_msgs.msg import Lateral
 import rclpy
 from rclpy.node import Node
 from rclpy.qos import QoSDurabilityPolicy
@@ -29,7 +28,7 @@ def publish_msg(self, control_cmd):
         stamp = self.get_clock().now().to_msg()
         msg = Control()
         lateral_cmd = Lateral()
-        longitudinal_cmd = LongitudinalCommand()
+        longitudinal_cmd = Longitudinal()
         lateral_cmd.stamp.sec = stamp.sec
         lateral_cmd.stamp.nanosec = stamp.nanosec
         lateral_cmd.steering_tire_angle = control_cmd["lateral"]["steering_tire_angle"]
@@ -38,7 +37,7 @@ def publish_msg(self, control_cmd):
         ]
         longitudinal_cmd.stamp.sec = stamp.sec
         longitudinal_cmd.stamp.nanosec = stamp.nanosec
-        longitudinal_cmd.velocity = control_cmd["longitudinal"]["speed"]
+        longitudinal_cmd.speed = control_cmd["longitudinal"]["speed"]
         longitudinal_cmd.acceleration = control_cmd["longitudinal"]["acceleration"]
         longitudinal_cmd.jerk = control_cmd["longitudinal"]["jerk"]
 
diff --git a/tools/simulator_test/simulator_compatibility_test/test_base/test_03_longitudinal_command_and_report.py b/tools/simulator_test/simulator_compatibility_test/test_base/test_03_longitudinal_command_and_report.py
index b2e9341bf5d82..91a86e4e559d3 100644
--- a/tools/simulator_test/simulator_compatibility_test/test_base/test_03_longitudinal_command_and_report.py
+++ b/tools/simulator_test/simulator_compatibility_test/test_base/test_03_longitudinal_command_and_report.py
@@ -1,8 +1,8 @@
 import time
 
-from autoware_auto_control_msgs.msg import Control
-from autoware_auto_control_msgs.msg import Lateral
-from autoware_auto_control_msgs.msg import LongitudinalCommand
+from autoware_control_msgs.msg import Control
+from autoware_control_msgs.msg import Lateral
+from autoware_control_msgs.msg import Longitudinal
 import pytest
 import rclpy
 from rclpy.executors import MultiThreadedExecutor
@@ -71,7 +71,7 @@ def generate_control_msg(self, control_cmd):
         stamp = self.node.get_clock().now().to_msg()
         msg = Control()
         lateral_cmd = Lateral()
-        longitudinal_cmd = LongitudinalCommand()
+        longitudinal_cmd = Longitudinal()
         lateral_cmd.stamp.sec = stamp.sec
         lateral_cmd.stamp.nanosec = stamp.nanosec
         lateral_cmd.steering_tire_angle = control_cmd["lateral"]["steering_tire_angle"]
@@ -80,7 +80,7 @@ def generate_control_msg(self, control_cmd):
         ]
         longitudinal_cmd.stamp.sec = stamp.sec
         longitudinal_cmd.stamp.nanosec = stamp.nanosec
-        longitudinal_cmd.velocity = control_cmd["longitudinal"]["speed"]
+        longitudinal_cmd.speed = control_cmd["longitudinal"]["speed"]
         longitudinal_cmd.acceleration = control_cmd["longitudinal"]["acceleration"]
         longitudinal_cmd.jerk = control_cmd["longitudinal"]["jerk"]
 
@@ -99,7 +99,7 @@ def set_speed(self, speed):
             if len(self.msgs_rx) > 2:
                 break
         received = self.msgs_rx[-1]
-        assert received.longitudinal.velocity == speed
+        assert received.longitudinal.speed == speed
         self.msgs_rx.clear()
 
     def set_acceleration(self, acceleration):
diff --git a/tools/simulator_test/simulator_compatibility_test/test_base/test_04_lateral_command_and_report.py b/tools/simulator_test/simulator_compatibility_test/test_base/test_04_lateral_command_and_report.py
index 017a2f8c57549..b126f9e979628 100644
--- a/tools/simulator_test/simulator_compatibility_test/test_base/test_04_lateral_command_and_report.py
+++ b/tools/simulator_test/simulator_compatibility_test/test_base/test_04_lateral_command_and_report.py
@@ -1,8 +1,8 @@
 import time
 
-from autoware_auto_control_msgs.msg import Control
-from autoware_auto_control_msgs.msg import Lateral
-from autoware_auto_control_msgs.msg import LongitudinalCommand
+from autoware_control_msgs.msg import Control
+from autoware_control_msgs.msg import Lateral
+from autoware_control_msgs.msg import Longitudinal
 import pytest
 import rclpy
 from rclpy.executors import MultiThreadedExecutor
@@ -70,7 +70,7 @@ def generate_control_msg(self, control_cmd):
         stamp = self.node.get_clock().now().to_msg()
         msg = Control()
         lateral_cmd = Lateral()
-        longitudinal_cmd = LongitudinalCommand()
+        longitudinal_cmd = Longitudinal()
         lateral_cmd.stamp.sec = stamp.sec
         lateral_cmd.stamp.nanosec = stamp.nanosec
         lateral_cmd.steering_tire_angle = control_cmd["lateral"]["steering_tire_angle"]
@@ -79,7 +79,7 @@ def generate_control_msg(self, control_cmd):
         ]
         longitudinal_cmd.stamp.sec = stamp.sec
         longitudinal_cmd.stamp.nanosec = stamp.nanosec
-        longitudinal_cmd.velocity = control_cmd["longitudinal"]["speed"]
+        longitudinal_cmd.speed = control_cmd["longitudinal"]["speed"]
         longitudinal_cmd.acceleration = control_cmd["longitudinal"]["acceleration"]
         longitudinal_cmd.jerk = control_cmd["longitudinal"]["jerk"]