diff --git a/perception/radar_fusion_to_detected_object/README.md b/perception/radar_fusion_to_detected_object/README.md
index 78db70f8f9c36..b22938cbf0e5a 100644
--- a/perception/radar_fusion_to_detected_object/README.md
+++ b/perception/radar_fusion_to_detected_object/README.md
@@ -56,10 +56,10 @@ ros2 launch radar_fusion_to_detected_object radar_object_to_detected_object.laun
 
 ### Input
 
-| Name                    | Type                                                 | Description                                                            |
-| ----------------------- | ---------------------------------------------------- | ---------------------------------------------------------------------- |
-| `~/input/objects`       | autoware_auto_perception_msgs/msg/DetectedObject.msg | 3D detected objects.                                                   |
-| `~/input/radar_objects` | autoware_auto_perception_msgs/msg/TrackedObjects.msg | Radar objects. Note that frame_id need to be same as `~/input/objects` |
+| Name                    | Type                                                  | Description                                                            |
+| ----------------------- | ----------------------------------------------------- | ---------------------------------------------------------------------- |
+| `~/input/objects`       | autoware_auto_perception_msgs/msg/DetectedObject.msg  | 3D detected objects.                                                   |
+| `~/input/radar_objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Radar objects. Note that frame_id need to be same as `~/input/objects` |
 
 ### Output
 
diff --git a/perception/radar_fusion_to_detected_object/include/radar_object_fusion_to_detected_object/radar_object_fusion_to_detected_object_node.hpp b/perception/radar_fusion_to_detected_object/include/radar_object_fusion_to_detected_object/radar_object_fusion_to_detected_object_node.hpp
index aab580d34fe09..1a90e9f6bd046 100644
--- a/perception/radar_fusion_to_detected_object/include/radar_object_fusion_to_detected_object/radar_object_fusion_to_detected_object_node.hpp
+++ b/perception/radar_fusion_to_detected_object/include/radar_object_fusion_to_detected_object/radar_object_fusion_to_detected_object_node.hpp
@@ -23,7 +23,6 @@
 #include "rclcpp/rclcpp.hpp"
 
 #include "autoware_auto_perception_msgs/msg/detected_objects.hpp"
-#include "autoware_auto_perception_msgs/msg/tracked_objects.hpp"
 
 #include <chrono>
 #include <memory>
@@ -34,8 +33,6 @@ namespace radar_fusion_to_detected_object
 {
 using autoware_auto_perception_msgs::msg::DetectedObject;
 using autoware_auto_perception_msgs::msg::DetectedObjects;
-using autoware_auto_perception_msgs::msg::TrackedObject;
-using autoware_auto_perception_msgs::msg::TrackedObjects;
 
 class RadarObjectFusionToDetectedObjectNode : public rclcpp::Node
 {
@@ -50,22 +47,22 @@ class RadarObjectFusionToDetectedObjectNode : public rclcpp::Node
 private:
   // Subscriber
   message_filters::Subscriber<DetectedObjects> sub_object_{};
-  message_filters::Subscriber<TrackedObjects> sub_radar_{};
+  message_filters::Subscriber<DetectedObjects> sub_radar_{};
 
   using SyncPolicy =
-    message_filters::sync_policies::ApproximateTime<DetectedObjects, TrackedObjects>;
+    message_filters::sync_policies::ApproximateTime<DetectedObjects, DetectedObjects>;
   using Sync = message_filters::Synchronizer<SyncPolicy>;
   typename std::shared_ptr<Sync> sync_ptr_;
 
   // Callback
   void onData(
     const DetectedObjects::ConstSharedPtr object_msg,
-    const TrackedObjects::ConstSharedPtr radar_msg);
+    const DetectedObjects::ConstSharedPtr radar_msg);
   bool isDataReady();
 
   // Data Buffer
   DetectedObjects::ConstSharedPtr detected_objects_{};
-  TrackedObjects::ConstSharedPtr radar_objects_{};
+  DetectedObjects::ConstSharedPtr radar_objects_{};
 
   // Publisher
   rclcpp::Publisher<DetectedObjects>::SharedPtr pub_objects_{};
@@ -87,7 +84,7 @@ class RadarObjectFusionToDetectedObjectNode : public rclcpp::Node
 
   // Lapper
   RadarFusionToDetectedObject::RadarInput setRadarInput(
-    const TrackedObject & radar_object, const std_msgs::msg::Header & header_);
+    const DetectedObject & radar_object, const std_msgs::msg::Header & header_);
 };
 
 }  // namespace radar_fusion_to_detected_object
diff --git a/perception/radar_fusion_to_detected_object/src/radar_object_fusion_to_detected_object_node/radar_object_fusion_to_detected_object_node.cpp b/perception/radar_fusion_to_detected_object/src/radar_object_fusion_to_detected_object_node/radar_object_fusion_to_detected_object_node.cpp
index c113527cb5424..8e909e4fc08c8 100644
--- a/perception/radar_fusion_to_detected_object/src/radar_object_fusion_to_detected_object_node/radar_object_fusion_to_detected_object_node.cpp
+++ b/perception/radar_fusion_to_detected_object/src/radar_object_fusion_to_detected_object_node/radar_object_fusion_to_detected_object_node.cpp
@@ -51,7 +51,6 @@ namespace radar_fusion_to_detected_object
 {
 using autoware_auto_perception_msgs::msg::DetectedObject;
 using autoware_auto_perception_msgs::msg::DetectedObjects;
-using autoware_auto_perception_msgs::msg::TrackedObjects;
 
 RadarObjectFusionToDetectedObjectNode::RadarObjectFusionToDetectedObjectNode(
   const rclcpp::NodeOptions & node_options)
@@ -181,7 +180,7 @@ bool RadarObjectFusionToDetectedObjectNode::isDataReady()
 }
 
 void RadarObjectFusionToDetectedObjectNode::onData(
-  const DetectedObjects::ConstSharedPtr object_msg, const TrackedObjects::ConstSharedPtr radar_msg)
+  const DetectedObjects::ConstSharedPtr object_msg, const DetectedObjects::ConstSharedPtr radar_msg)
 {
   detected_objects_ = object_msg;
   radar_objects_ = radar_msg;
@@ -211,7 +210,7 @@ void RadarObjectFusionToDetectedObjectNode::onData(
 }
 
 RadarFusionToDetectedObject::RadarInput RadarObjectFusionToDetectedObjectNode::setRadarInput(
-  const TrackedObject & radar_object, const std_msgs::msg::Header & header_)
+  const DetectedObject & radar_object, const std_msgs::msg::Header & header_)
 {
   RadarFusionToDetectedObject::RadarInput output{};
   output.pose_with_covariance = radar_object.kinematics.pose_with_covariance;