diff --git a/autoware_iv_internal_api_adaptor/package.xml b/autoware_iv_internal_api_adaptor/package.xml
index 41e21d3..ee0161c 100644
--- a/autoware_iv_internal_api_adaptor/package.xml
+++ b/autoware_iv_internal_api_adaptor/package.xml
@@ -15,15 +15,12 @@
   <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_auto_system_msgs</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
-  <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>std_srvs</depend>
   <depend>tier4_api_utils</depend>
   <depend>tier4_auto_msgs_converter</depend>
   <depend>tier4_control_msgs</depend>
   <depend>tier4_external_api_msgs</depend>
-  <depend>tier4_localization_msgs</depend>
   <depend>tier4_perception_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>tier4_system_msgs</depend>
diff --git a/awapi_awiv_adapter/package.xml b/awapi_awiv_adapter/package.xml
index 03045aa..437f46f 100644
--- a/awapi_awiv_adapter/package.xml
+++ b/awapi_awiv_adapter/package.xml
@@ -20,13 +20,11 @@
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
-  <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tier4_api_msgs</depend>
   <depend>tier4_auto_msgs_converter</depend>
   <depend>tier4_control_msgs</depend>
-  <depend>tier4_external_api_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>tier4_system_msgs</depend>
   <depend>tier4_v2x_msgs</depend>