diff --git a/planning/rtc_interface/include/rtc_interface/rtc_interface.hpp b/planning/rtc_interface/include/rtc_interface/rtc_interface.hpp
index f96520ebac3c0..de8d78f49a0ff 100644
--- a/planning/rtc_interface/include/rtc_interface/rtc_interface.hpp
+++ b/planning/rtc_interface/include/rtc_interface/rtc_interface.hpp
@@ -75,9 +75,8 @@ class RTCInterface
   CooperateStatusArray registered_status_;
   bool is_auto_mode_;
 
-  // TEMPORARY: Name space will be changed.
-  // std::string cooperate_status_namespace_ = "/planning/cooperate_status";
-  // std::string cooperate_commands_namespace_ = "/planning/cooperate_commands";
+  std::string cooperate_status_namespace_ = "/planning/cooperate_status";
+  std::string cooperate_commands_namespace_ = "/planning/cooperate_commands";
   std::string enable_auto_mode_namespace_ = "/planning/enable_auto_mode/internal";
 };
 
diff --git a/planning/rtc_interface/src/rtc_interface.cpp b/planning/rtc_interface/src/rtc_interface.cpp
index 102f6733aa35d..02f2efeaf6308 100644
--- a/planning/rtc_interface/src/rtc_interface.cpp
+++ b/planning/rtc_interface/src/rtc_interface.cpp
@@ -76,12 +76,12 @@ RTCInterface::RTCInterface(rclcpp::Node * node, const std::string & name)
 
   // Publisher
   pub_statuses_ =
-    node->create_publisher<CooperateStatusArray>("~/" + name + "/cooperate_status", 1);
+    node->create_publisher<CooperateStatusArray>(cooperate_status_namespace_ + "/" + name, 1);
 
   // Service
   callback_group_ = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
   srv_commands_ = node->create_service<CooperateCommands>(
-    "~/" + name + "/cooperate_commands",
+    cooperate_commands_namespace_ + "/" + name,
     std::bind(&RTCInterface::onCooperateCommandService, this, _1, _2),
     rmw_qos_profile_services_default, callback_group_);
   srv_auto_mode_ = node->create_service<AutoMode>(