diff --git a/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer.py b/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer.py
index b45357c7bd8b2..9d8fa4a32a93d 100755
--- a/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer.py
+++ b/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer.py
@@ -93,11 +93,11 @@ def on_timer(self):
 
         # traffic signals
         if traffic_signals_msg:
-            traffic_signals_msg.header.stamp = timestamp
+            traffic_signals_msg.stamp = timestamp
             self.traffic_signals_pub.publish(traffic_signals_msg)
             self.prev_traffic_signals_msg = traffic_signals_msg
         elif self.prev_traffic_signals_msg:
-            self.prev_traffic_signals_msg.header.stamp = timestamp
+            self.prev_traffic_signals_msg.stamp = timestamp
             self.traffic_signals_pub.publish(self.prev_traffic_signals_msg)
 
     def onPushed(self, event):
diff --git a/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py b/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py
index a86a9ae9b2bb0..7774a8c82daf6 100644
--- a/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py
+++ b/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py
@@ -22,7 +22,7 @@
 from autoware_auto_perception_msgs.msg import DetectedObjects
 from autoware_auto_perception_msgs.msg import PredictedObjects
 from autoware_auto_perception_msgs.msg import TrackedObjects
-from autoware_auto_perception_msgs.msg import TrafficSignalArray
+from autoware_perception_msgs.msg import TrafficSignalArray
 from nav_msgs.msg import Odometry
 import psutil
 from rclpy.node import Node
diff --git a/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py b/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py
index 4228d506d5bec..5344e622be38e 100755
--- a/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py
+++ b/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py
@@ -67,11 +67,11 @@ def on_timer(self):
 
         # traffic signals
         if traffic_signals_msg:
-            traffic_signals_msg.header.stamp = timestamp
+            traffic_signals_msg.stamp = timestamp
             self.traffic_signals_pub.publish(traffic_signals_msg)
             self.prev_traffic_signals_msg = traffic_signals_msg
         elif self.prev_traffic_signals_msg:
-            self.prev_traffic_signals_msg.header.stamp = timestamp
+            self.prev_traffic_signals_msg.stamp = timestamp
             self.traffic_signals_pub.publish(self.prev_traffic_signals_msg)
 
     def find_nearest_ego_odom_by_observation(self, ego_pose):