diff --git a/control/vehicle_cmd_gate/README.md b/control/vehicle_cmd_gate/README.md
index 62a774f7e5028..4bae58e22fa93 100644
--- a/control/vehicle_cmd_gate/README.md
+++ b/control/vehicle_cmd_gate/README.md
@@ -21,7 +21,6 @@
 | `~/input/external/gear_cmd`                 | `autoware_auto_vehicle_msgs::msg::GearCommand`             | gear command from external                                           |
 | `~/input/external_emergency_stop_heartbeat` | `tier4_external_api_msgs::msg::Heartbeat`                  | heartbeat                                                            |
 | `~/input/gate_mode`                         | `tier4_control_msgs::msg::GateMode`                        | gate mode (AUTO or EXTERNAL)                                         |
-| `~/input/emergency_state`                   | `autoware_auto_system_msgs::msg::EmergencyState`           | used to detect the emergency situation of the vehicle                |
 | `~/input/emergency/control_cmd`             | `autoware_auto_control_msgs::msg::AckermannControlCommand` | command for lateral and longitudinal velocity from emergency handler |
 | `~/input/emergency/hazard_lights_cmd`       | `autoware_auto_vehicle_msgs::msg::HazardLightsCommand`     | hazard lights command from emergency handler                         |
 | `~/input/emergency/gear_cmd`                | `autoware_auto_vehicle_msgs::msg::GearCommand`             | gear command from emergency handler                                  |
diff --git a/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml b/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml
index 4ac592c1499f7..644e937e0718d 100644
--- a/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml
+++ b/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml
@@ -22,7 +22,6 @@
     <remap from="input/external_emergency_stop_heartbeat" to="/external/selected/heartbeat"/>
     <remap from="input/gate_mode" to="/control/gate_mode_cmd"/>
 
-    <remap from="input/emergency_state" to="/system/emergency/emergency_state"/>
     <remap from="input/emergency/control_cmd" to="/system/emergency/control_cmd"/>
     <remap from="input/emergency/hazard_lights_cmd" to="/system/emergency/hazard_lights_cmd"/>
     <remap from="input/emergency/gear_cmd" to="/system/emergency/gear_cmd"/>
diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
index 291d320efddf4..756e8e122b13f 100644
--- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
+++ b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
@@ -25,7 +25,6 @@
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
-#include <autoware_auto_system_msgs/msg/emergency_state.hpp>
 #include <autoware_auto_vehicle_msgs/msg/engage.hpp>
 #include <autoware_auto_vehicle_msgs/msg/gear_command.hpp>
 #include <autoware_auto_vehicle_msgs/msg/hazard_lights_command.hpp>
diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py
index b02095623ae1d..4cb4c54dd5ddb 100644
--- a/launch/tier4_control_launch/launch/control.launch.py
+++ b/launch/tier4_control_launch/launch/control.launch.py
@@ -171,7 +171,6 @@ def launch_setup(context, *args, **kwargs):
         plugin="vehicle_cmd_gate::VehicleCmdGate",
         name="vehicle_cmd_gate",
         remappings=[
-            ("input/emergency_state", "/system/emergency/emergency_state"),
             ("input/steering", "/vehicle/status/steering_status"),
             ("input/operation_mode", "/system/operation_mode/state"),
             ("input/auto/control_cmd", "/control/trajectory_follower/control_cmd"),