diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp
index 08d9808997011..8e3eaeb4bb455 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp
@@ -34,6 +34,7 @@
 #include <geometry_msgs/msg/point.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/pose_array.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #include <boost/geometry/geometries/box.hpp>
 #include <boost/geometry/geometries/point_xy.hpp>
@@ -45,7 +46,6 @@
 #include <lanelet2_routing/RoutingGraph.h>
 #include <lanelet2_routing/RoutingGraphContainer.h>
 #include <tf2/utils.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 
 #include <limits>
 #include <memory>
@@ -79,36 +79,6 @@ inline void fromMsg(const geometry_msgs::msg::PoseStamped & msg, tf2::Stamped<tf
   fromMsg(msg.pose, tmp);
   out.setData(tmp);
 }
-
-// Remove after this commit is released
-// https://github.com/ros2/geometry2/commit/e9da371d81e388a589540357c050e262442f1b4a
-inline geometry_msgs::msg::Point & toMsg(const tf2::Vector3 & in, geometry_msgs::msg::Point & out)
-{
-  out.x = in.getX();
-  out.y = in.getY();
-  out.z = in.getZ();
-  return out;
-}
-
-// Remove after this commit is released
-// https://github.com/ros2/geometry2/commit/e9da371d81e388a589540357c050e262442f1b4a
-inline void fromMsg(const geometry_msgs::msg::Point & in, tf2::Vector3 & out)
-{
-  out = tf2::Vector3(in.x, in.y, in.z);
-}
-
-template <>
-inline void doTransform(
-  const geometry_msgs::msg::Point & t_in, geometry_msgs::msg::Point & t_out,
-  const geometry_msgs::msg::TransformStamped & transform)
-{
-  tf2::Transform t;
-  fromMsg(transform.transform, t);
-  tf2::Vector3 v_in;
-  fromMsg(t_in, v_in);
-  tf2::Vector3 v_out = t * v_in;
-  toMsg(v_out, t_out);
-}
 }  // namespace tf2
 
 namespace behavior_path_planner
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
index 0bf4cf4d90b42..c306c22e88c64 100644
--- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -2449,7 +2449,7 @@ void AvoidanceModule::updateRegisteredObject(const ObjectDataArray & now_objects
   };
 
   // -- check now_objects, add it if it has new object id --
-  for (const auto now_obj : now_objects) {
+  for (const auto & now_obj : now_objects) {
     if (!isAlreadyRegistered(now_obj.object.object_id)) {
       registered_objects_.push_back(now_obj);
     }