diff --git a/consai_ros2/consai_visualizer/package.xml b/consai_ros2/consai_visualizer/package.xml
index 96cd8ea6b..628dcda37 100644
--- a/consai_ros2/consai_visualizer/package.xml
+++ b/consai_ros2/consai_visualizer/package.xml
@@ -10,7 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>ament_index_python</exec_depend>
-  <exec_depend>consai_visualizer_msgs</exec_depend>
+  <exec_depend>crane_visualization_interfaces</exec_depend>
   <exec_depend version_gte="0.2.19">python_qt_binding</exec_depend>
   <exec_depend>rclpy</exec_depend>
   <exec_depend>rqt_gui</exec_depend>
diff --git a/consai_ros2/consai_visualizer/src/consai_visualizer/field_widget.py b/consai_ros2/consai_visualizer/src/consai_visualizer/field_widget.py
index b109be0e0..36057482f 100644
--- a/consai_ros2/consai_visualizer/src/consai_visualizer/field_widget.py
+++ b/consai_ros2/consai_visualizer/src/consai_visualizer/field_widget.py
@@ -19,9 +19,9 @@
 import math
 from typing import Dict
 
-from consai_visualizer_msgs.msg import Color as VisColor
-from consai_visualizer_msgs.msg import Objects as VisObjects
-from consai_visualizer_msgs.msg import (
+from crane_visualization_interfaces.msg import Color as VisColor
+from crane_visualization_interfaces.msg import Objects as VisObjects
+from crane_visualization_interfaces.msg import (
     ShapeAnnotation,
     ShapeArc,
     ShapeCircle,
diff --git a/consai_ros2/consai_visualizer/src/consai_visualizer/visualizer.py b/consai_ros2/consai_visualizer/src/consai_visualizer/visualizer.py
index df6487f7b..5ff997b38 100644
--- a/consai_ros2/consai_visualizer/src/consai_visualizer/visualizer.py
+++ b/consai_ros2/consai_visualizer/src/consai_visualizer/visualizer.py
@@ -24,7 +24,7 @@
 
 from ament_index_python.resources import get_resource
 from consai_visualizer.field_widget import FieldWidget
-from consai_visualizer_msgs.msg import ObjectsArray
+from crane_visualization_interfaces.msg import ObjectsArray
 from crane_msgs.msg import PingStatusArray, RobotFeedbackArray
 from python_qt_binding import loadUi
 from python_qt_binding.QtCore import QPointF, Qt, QTimer
diff --git a/crane_game_analyzer/package.xml b/crane_game_analyzer/package.xml
index 6d16789e6..35813995a 100755
--- a/crane_game_analyzer/package.xml
+++ b/crane_game_analyzer/package.xml
@@ -10,9 +10,9 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>closest_point_vendor</depend>
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
diff --git a/crane_local_planner/package.xml b/crane_local_planner/package.xml
index b248c279f..f53e46002 100755
--- a/crane_local_planner/package.xml
+++ b/crane_local_planner/package.xml
@@ -11,9 +11,9 @@
 
   <depend>backward_ros</depend>
   <depend>closest_point_vendor</depend>
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>rvo2_vendor</depend>
diff --git a/crane_play_switcher/package.xml b/crane_play_switcher/package.xml
index ca55b2c7e..0210e0dd6 100755
--- a/crane_play_switcher/package.xml
+++ b/crane_play_switcher/package.xml
@@ -9,9 +9,9 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>robocup_ssl_msgs</depend>
diff --git a/crane_robot_receiver/package.xml b/crane_robot_receiver/package.xml
index b25e632f8..98a08f02a 100755
--- a/crane_robot_receiver/package.xml
+++ b/crane_robot_receiver/package.xml
@@ -10,9 +10,9 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>boost</depend>
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
 
diff --git a/crane_robot_skills/package.xml b/crane_robot_skills/package.xml
index 49aa4f222..e9a2fa328 100755
--- a/crane_robot_skills/package.xml
+++ b/crane_robot_skills/package.xml
@@ -10,11 +10,11 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>boost</depend>
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_basics</depend>
   <depend>crane_game_analyzer</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>magic_enum</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/crane_sender/package.xml b/crane_sender/package.xml
index 7e3937d48..aff620c63 100755
--- a/crane_sender/package.xml
+++ b/crane_sender/package.xml
@@ -9,10 +9,10 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_basics</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>libboost-dev</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/crane_simple_ai/package.xml b/crane_simple_ai/package.xml
index dadc36550..f8b825880 100755
--- a/crane_simple_ai/package.xml
+++ b/crane_simple_ai/package.xml
@@ -9,10 +9,10 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
   <depend>crane_robot_skills</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
   <depend>libqt5-widgets</depend>
diff --git a/crane_visualization_interfaces/include/consai_visualizer_msgs/manual_conversions.hpp b/crane_visualization_interfaces/include/consai_visualizer_msgs/manual_conversions.hpp
deleted file mode 100644
index a25f6043b..000000000
--- a/crane_visualization_interfaces/include/consai_visualizer_msgs/manual_conversions.hpp
+++ /dev/null
@@ -1,10 +0,0 @@
-// Copyright (c) 2024 ibis-ssl
-//
-// Use of this source code is governed by an MIT-style
-// license that can be found in the LICENSE file or at
-// https://opensource.org/licenses/MIT.
-
-#ifndef CONSAI_VISUALIZER_MSGS__MANUAL_CONVERSIONS_HPP_
-#define CONSAI_VISUALIZER_MSGS__MANUAL_CONVERSIONS_HPP_
-
-#endif  // CONSAI_VISUALIZER_MSGS__MANUAL_CONVERSIONS_HPP_
diff --git a/crane_visualization_interfaces/include/crane_visualization_interfaces/manual_conversions.hpp b/crane_visualization_interfaces/include/crane_visualization_interfaces/manual_conversions.hpp
new file mode 100644
index 000000000..af6da20ba
--- /dev/null
+++ b/crane_visualization_interfaces/include/crane_visualization_interfaces/manual_conversions.hpp
@@ -0,0 +1,12 @@
+// Copyright (c) 2024 ibis-ssl
+//
+// Use of this source code is governed by an MIT-style
+// license that can be found in the LICENSE file or at
+// https://opensource.org/licenses/MIT.
+
+#ifndef CRANE_VISUALIZATION_INTERFACES__MANUAL_CONVERSIONS_HPP_
+#define CRANE_VISUALIZATION_INTERFACES__MANUAL_CONVERSIONS_HPP_
+
+// IMPLEMENT MANUAL CONVERSIONS HERE
+
+#endif  // CRANE_VISUALIZATION_INTERFACES__MANUAL_CONVERSIONS_HPP_
diff --git a/crane_visualization_interfaces/src/manual_conversions.cpp b/crane_visualization_interfaces/src/manual_conversions.cpp
index b62e885bc..74c6c210b 100644
--- a/crane_visualization_interfaces/src/manual_conversions.cpp
+++ b/crane_visualization_interfaces/src/manual_conversions.cpp
@@ -4,5 +4,6 @@
 // license that can be found in the LICENSE file or at
 // https://opensource.org/licenses/MIT.
 
-// NOTE: 名前もmanual_conversions.cppで固定
-#include <consai_visualizer_msgs/manual_conversions.hpp>
+#include <crane_visualization_interfaces/manual_conversions.hpp>
+
+// IMPLEMENT MANUAL CONVERSIONS HERE
diff --git a/crane_world_model_publisher/include/crane_world_model_publisher/visualization_data_handler.hpp b/crane_world_model_publisher/include/crane_world_model_publisher/visualization_data_handler.hpp
index c992e8e25..cd5dd247b 100644
--- a/crane_world_model_publisher/include/crane_world_model_publisher/visualization_data_handler.hpp
+++ b/crane_world_model_publisher/include/crane_world_model_publisher/visualization_data_handler.hpp
@@ -18,15 +18,15 @@
 #include <robocup_ssl_msgs/ssl_vision_geometry.pb.h>
 #include <robocup_ssl_msgs/ssl_vision_wrapper_tracked.pb.h>
 
-#include <consai_visualizer_msgs/msg/objects_array.hpp>
+#include <crane_visualization_interfaces/msg/objects_array.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <robocup_ssl_msgs/msg/referee.hpp>
 
 namespace crane
 {
 
-using VisualizerObjects = consai_visualizer_msgs::msg::Objects;
-using VisualizerObjectsArray = consai_visualizer_msgs::msg::ObjectsArray;
+using VisualizerObjects = crane_visualization_interfaces::msg::Objects;
+using VisualizerObjectsArray = crane_visualization_interfaces::msg::ObjectsArray;
 using Referee = robocup_ssl_msgs::msg::Referee;
 
 class VisualizationDataHandler
diff --git a/crane_world_model_publisher/package.xml b/crane_world_model_publisher/package.xml
index 13ad0fe5f..d44321a45 100755
--- a/crane_world_model_publisher/package.xml
+++ b/crane_world_model_publisher/package.xml
@@ -10,10 +10,10 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>boost</depend>
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_basics</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>libgoogle-glog-dev</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/crane_world_model_publisher/src/visualization_data_handler.cpp b/crane_world_model_publisher/src/visualization_data_handler.cpp
index 9dc4cc1e6..25956873a 100644
--- a/crane_world_model_publisher/src/visualization_data_handler.cpp
+++ b/crane_world_model_publisher/src/visualization_data_handler.cpp
@@ -14,25 +14,25 @@
 
 #include "crane_world_model_publisher/visualization_data_handler.hpp"
 
-#include <consai_visualizer_msgs/msg/shape_arc.hpp>
-#include <consai_visualizer_msgs/msg/shape_circle.hpp>
-#include <consai_visualizer_msgs/msg/shape_line.hpp>
-#include <consai_visualizer_msgs/msg/shape_point.hpp>
-#include <consai_visualizer_msgs/msg/shape_rectangle.hpp>
-#include <consai_visualizer_msgs/msg/shape_robot.hpp>
+#include <crane_visualization_interfaces/msg/shape_arc.hpp>
+#include <crane_visualization_interfaces/msg/shape_circle.hpp>
+#include <crane_visualization_interfaces/msg/shape_line.hpp>
+#include <crane_visualization_interfaces/msg/shape_point.hpp>
+#include <crane_visualization_interfaces/msg/shape_rectangle.hpp>
+#include <crane_visualization_interfaces/msg/shape_robot.hpp>
 #include <robocup_ssl_msgs/msg/robot_id.hpp>
 
 namespace crane
 {
-using VisColor = consai_visualizer_msgs::msg::Color;
-using VisArc = consai_visualizer_msgs::msg::ShapeArc;
-using VisAnnotation = consai_visualizer_msgs::msg::ShapeAnnotation;
-using VisCircle = consai_visualizer_msgs::msg::ShapeCircle;
-using VisLine = consai_visualizer_msgs::msg::ShapeLine;
-using VisPoint = consai_visualizer_msgs::msg::ShapePoint;
-using VisRect = consai_visualizer_msgs::msg::ShapeRectangle;
-using VisRobot = consai_visualizer_msgs::msg::ShapeRobot;
-using VisText = consai_visualizer_msgs::msg::ShapeText;
+using VisColor = crane_visualization_interfaces::msg::Color;
+using VisArc = crane_visualization_interfaces::msg::ShapeArc;
+using VisAnnotation = crane_visualization_interfaces::msg::ShapeAnnotation;
+using VisCircle = crane_visualization_interfaces::msg::ShapeCircle;
+using VisLine = crane_visualization_interfaces::msg::ShapeLine;
+using VisPoint = crane_visualization_interfaces::msg::ShapePoint;
+using VisRect = crane_visualization_interfaces::msg::ShapeRectangle;
+using VisRobot = crane_visualization_interfaces::msg::ShapeRobot;
+using VisText = crane_visualization_interfaces::msg::ShapeText;
 using RobotId = robocup_ssl_msgs::msg::RobotId;
 
 VisualizationDataHandler::VisualizationDataHandler(rclcpp::Node & node)
diff --git a/session/crane_planner_base/package.xml b/session/crane_planner_base/package.xml
index a71d65360..b798c7958 100755
--- a/session/crane_planner_base/package.xml
+++ b/session/crane_planner_base/package.xml
@@ -9,9 +9,9 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
 
diff --git a/session/crane_planner_plugins/package.xml b/session/crane_planner_plugins/package.xml
index 0636ab80d..a9af05b80 100755
--- a/session/crane_planner_plugins/package.xml
+++ b/session/crane_planner_plugins/package.xml
@@ -9,13 +9,13 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_basics</depend>
   <depend>crane_game_analyzer</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
   <depend>crane_planner_base</depend>
   <depend>crane_robot_skills</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>matplotlib_cpp_17_vendor</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
diff --git a/session/crane_session_controller/package.xml b/session/crane_session_controller/package.xml
index 7d79b5199..e4b8ff70b 100755
--- a/session/crane_session_controller/package.xml
+++ b/session/crane_session_controller/package.xml
@@ -10,10 +10,10 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>closest_point_vendor</depend>
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>
   <depend>crane_planner_plugins</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>libgoogle-glog-dev</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/utility/crane_grsim_operator/package.xml b/utility/crane_grsim_operator/package.xml
index b5c8b4296..93efcd310 100755
--- a/utility/crane_grsim_operator/package.xml
+++ b/utility/crane_grsim_operator/package.xml
@@ -9,8 +9,8 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_msgs</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>robocup_ssl_msgs</depend>
   <depend>std_msgs</depend>
diff --git a/utility/crane_msg_wrappers/include/crane_msg_wrappers/consai_visualizer_wrapper.hpp b/utility/crane_msg_wrappers/include/crane_msg_wrappers/consai_visualizer_wrapper.hpp
index d395d69ff..3a0fa9ba6 100644
--- a/utility/crane_msg_wrappers/include/crane_msg_wrappers/consai_visualizer_wrapper.hpp
+++ b/utility/crane_msg_wrappers/include/crane_msg_wrappers/consai_visualizer_wrapper.hpp
@@ -7,8 +7,8 @@
 #ifndef CRANE_MSG_WRAPPERS__CONSAI_VISUALIZER_WRAPPER_HPP_
 #define CRANE_MSG_WRAPPERS__CONSAI_VISUALIZER_WRAPPER_HPP_
 
-#include <consai_visualizer_msgs/msg/objects_array.hpp>
 #include <crane_basics/boost_geometry.hpp>
+#include <crane_visualization_interfaces/msg/objects_array.hpp>
 #include <memory>
 #include <rclcpp/rclcpp.hpp>
 #include <string>
@@ -132,15 +132,17 @@ struct FillShapeColorBuilder
   }
 };
 
-struct ShapeAnnotationBuilder : public ColorBuilder<consai_visualizer_msgs::msg::ShapeAnnotation>
+struct ShapeAnnotationBuilder
+: public ColorBuilder<crane_visualization_interfaces::msg::ShapeAnnotation>
 {
-  consai_visualizer_msgs::msg::ShapeAnnotation annotation;
-  ShapeAnnotationBuilder() : ColorBuilder<consai_visualizer_msgs::msg::ShapeAnnotation>(annotation)
+  crane_visualization_interfaces::msg::ShapeAnnotation annotation;
+  ShapeAnnotationBuilder()
+  : ColorBuilder<crane_visualization_interfaces::msg::ShapeAnnotation>(annotation)
   {
     annotation.color.name = "white";
     annotation.color.alpha = 1.0;
   }
-  operator consai_visualizer_msgs::msg::ShapeAnnotation() const { return annotation; }
+  operator crane_visualization_interfaces::msg::ShapeAnnotation() const { return annotation; }
 
   ShapeAnnotationBuilder & text(const std::string & text)
   {
@@ -180,16 +182,16 @@ struct ShapeAnnotationBuilder : public ColorBuilder<consai_visualizer_msgs::msg:
   }
 };
 
-struct ShapePointBuilder : public ColorBuilder<consai_visualizer_msgs::msg::ShapePoint>
+struct ShapePointBuilder : public ColorBuilder<crane_visualization_interfaces::msg::ShapePoint>
 {
-  consai_visualizer_msgs::msg::ShapePoint point;
-  ShapePointBuilder() : ColorBuilder<consai_visualizer_msgs::msg::ShapePoint>(point)
+  crane_visualization_interfaces::msg::ShapePoint point;
+  ShapePointBuilder() : ColorBuilder<crane_visualization_interfaces::msg::ShapePoint>(point)
   {
     point.color.name = "white";
     point.color.alpha = 1.0;
     point.size = 1;
   }
-  operator consai_visualizer_msgs::msg::ShapePoint() const { return point; }
+  operator crane_visualization_interfaces::msg::ShapePoint() const { return point; }
 
   ShapePointBuilder & x(double x)
   {
@@ -223,11 +225,11 @@ struct ShapePointBuilder : public ColorBuilder<consai_visualizer_msgs::msg::Shap
   }
 };
 
-struct ShapeArcBuilder : public ColorBuilder<consai_visualizer_msgs::msg::ShapeArc>
+struct ShapeArcBuilder : public ColorBuilder<crane_visualization_interfaces::msg::ShapeArc>
 {
-  consai_visualizer_msgs::msg::ShapeArc arc;
-  ShapeArcBuilder() : ColorBuilder<consai_visualizer_msgs::msg::ShapeArc>(arc) {}
-  operator consai_visualizer_msgs::msg::ShapeArc() const { return arc; }
+  crane_visualization_interfaces::msg::ShapeArc arc;
+  ShapeArcBuilder() : ColorBuilder<crane_visualization_interfaces::msg::ShapeArc>(arc) {}
+  operator crane_visualization_interfaces::msg::ShapeArc() const { return arc; }
 
   ShapeArcBuilder & center(double x, double y)
   {
@@ -280,14 +282,16 @@ struct ShapeArcBuilder : public ColorBuilder<consai_visualizer_msgs::msg::ShapeA
   }
 };
 
-struct ShapeCircleBuilder : public FillShapeColorBuilder<consai_visualizer_msgs::msg::ShapeCircle>
+struct ShapeCircleBuilder
+: public FillShapeColorBuilder<crane_visualization_interfaces::msg::ShapeCircle>
 {
-  consai_visualizer_msgs::msg::ShapeCircle circle;
-  ShapeCircleBuilder() : FillShapeColorBuilder<consai_visualizer_msgs::msg::ShapeCircle>(circle)
+  crane_visualization_interfaces::msg::ShapeCircle circle;
+  ShapeCircleBuilder()
+  : FillShapeColorBuilder<crane_visualization_interfaces::msg::ShapeCircle>(circle)
   {
     circle.line_size = 1;
   }
-  operator consai_visualizer_msgs::msg::ShapeCircle() const { return circle; }
+  operator crane_visualization_interfaces::msg::ShapeCircle() const { return circle; }
 
   ShapeCircleBuilder & center(double x, double y)
   {
@@ -322,12 +326,15 @@ struct ShapeCircleBuilder : public FillShapeColorBuilder<consai_visualizer_msgs:
   }
 };
 
-struct ShapeLineBuilder : public ColorBuilder<consai_visualizer_msgs::msg::ShapeLine>
+struct ShapeLineBuilder : public ColorBuilder<crane_visualization_interfaces::msg::ShapeLine>
 {
-  consai_visualizer_msgs::msg::ShapeLine line;
-  ShapeLineBuilder() : ColorBuilder<consai_visualizer_msgs::msg::ShapeLine>(line) { line.size = 1; }
+  crane_visualization_interfaces::msg::ShapeLine line;
+  ShapeLineBuilder() : ColorBuilder<crane_visualization_interfaces::msg::ShapeLine>(line)
+  {
+    line.size = 1;
+  }
 
-  operator consai_visualizer_msgs::msg::ShapeLine() const { return line; }
+  operator crane_visualization_interfaces::msg::ShapeLine() const { return line; }
 
   ShapeLineBuilder & p1(double x, double y)
   {
@@ -371,14 +378,15 @@ struct ShapeLineBuilder : public ColorBuilder<consai_visualizer_msgs::msg::Shape
 };
 
 struct ShapeRectangleBuilder
-: public FillShapeColorBuilder<consai_visualizer_msgs::msg::ShapeRectangle>
+: public FillShapeColorBuilder<crane_visualization_interfaces::msg::ShapeRectangle>
 {
-  consai_visualizer_msgs::msg::ShapeRectangle rect;
-  ShapeRectangleBuilder() : FillShapeColorBuilder<consai_visualizer_msgs::msg::ShapeRectangle>(rect)
+  crane_visualization_interfaces::msg::ShapeRectangle rect;
+  ShapeRectangleBuilder()
+  : FillShapeColorBuilder<crane_visualization_interfaces::msg::ShapeRectangle>(rect)
   {
   }
 
-  operator consai_visualizer_msgs::msg::ShapeRectangle() const { return rect; }
+  operator crane_visualization_interfaces::msg::ShapeRectangle() const { return rect; }
 
   ShapeRectangleBuilder & center(double x, double y)
   {
@@ -421,15 +429,17 @@ struct ShapeRectangleBuilder
   }
 };
 
-struct ShapeRobotBuilder : public FillShapeColorBuilder<consai_visualizer_msgs::msg::ShapeRobot>
+struct ShapeRobotBuilder
+: public FillShapeColorBuilder<crane_visualization_interfaces::msg::ShapeRobot>
 {
-  consai_visualizer_msgs::msg::ShapeRobot robot;
-  ShapeRobotBuilder() : FillShapeColorBuilder<consai_visualizer_msgs::msg::ShapeRobot>(robot)
+  crane_visualization_interfaces::msg::ShapeRobot robot;
+  ShapeRobotBuilder()
+  : FillShapeColorBuilder<crane_visualization_interfaces::msg::ShapeRobot>(robot)
   {
     robot.radius = 0.09;
     robot.line_size = 1;
   }
-  operator consai_visualizer_msgs::msg::ShapeRobot() const { return robot; }
+  operator crane_visualization_interfaces::msg::ShapeRobot() const { return robot; }
 
   ShapeRobotBuilder & x(double x)
   {
@@ -499,14 +509,15 @@ struct ShapeRobotBuilder : public FillShapeColorBuilder<consai_visualizer_msgs::
   }
 };
 
-struct ShapeTubeBuilder : public FillShapeColorBuilder<consai_visualizer_msgs::msg::ShapeTube>
+struct ShapeTubeBuilder
+: public FillShapeColorBuilder<crane_visualization_interfaces::msg::ShapeTube>
 {
-  consai_visualizer_msgs::msg::ShapeTube tube;
-  ShapeTubeBuilder() : FillShapeColorBuilder<consai_visualizer_msgs::msg::ShapeTube>(tube)
+  crane_visualization_interfaces::msg::ShapeTube tube;
+  ShapeTubeBuilder() : FillShapeColorBuilder<crane_visualization_interfaces::msg::ShapeTube>(tube)
   {
     tube.line_size = 1;
   }
-  operator consai_visualizer_msgs::msg::ShapeTube() const { return tube; }
+  operator crane_visualization_interfaces::msg::ShapeTube() const { return tube; }
 
   ShapeTubeBuilder & p1(double x, double y)
   {
@@ -557,12 +568,12 @@ struct ShapeTubeBuilder : public FillShapeColorBuilder<consai_visualizer_msgs::m
 
 struct ConsaiVisualizerBuffer
 {
-  using ObjectsArray = consai_visualizer_msgs::msg::ObjectsArray;
+  using ObjectsArray = crane_visualization_interfaces::msg::ObjectsArray;
   static inline std::unique_ptr<ConsaiVisualizerBuffer> buffer = nullptr;
 
   rclcpp::Publisher<ObjectsArray>::SharedPtr publisher;
 
-  consai_visualizer_msgs::msg::ObjectsArray message_buffer;
+  crane_visualization_interfaces::msg::ObjectsArray message_buffer;
 
   template <typename Node>
   ConsaiVisualizerBuffer(Node & node, const std::string topic)
@@ -627,7 +638,7 @@ struct ConsaiVisualizerBuffer
       }
     }
 
-    using Objects = consai_visualizer_msgs::msg::Objects;
+    using Objects = crane_visualization_interfaces::msg::Objects;
 
     Objects message_buffer;
 
@@ -635,7 +646,7 @@ struct ConsaiVisualizerBuffer
       const std::string & text, double normed_x, double normed_y, double normed_width,
       double normed_height, const std::string & color = "white", double alpha = 1.0)
     {
-      consai_visualizer_msgs::msg::ShapeAnnotation annotation;
+      crane_visualization_interfaces::msg::ShapeAnnotation annotation;
       annotation.text = text;
       annotation.normalized_x = normed_x;
       annotation.normalized_y = normed_y;
@@ -646,7 +657,7 @@ struct ConsaiVisualizerBuffer
       message_buffer.annotations.push_back(annotation);
     }
 
-    void addAnnotation(consai_visualizer_msgs::msg::ShapeAnnotation annotation)
+    void addAnnotation(crane_visualization_interfaces::msg::ShapeAnnotation annotation)
     {
       message_buffer.annotations.push_back(annotation);
     }
@@ -655,7 +666,7 @@ struct ConsaiVisualizerBuffer
       double x, double y, int size, const std::string & color = "white", double alpha = 1.0,
       const std::string & caption = "")
     {
-      consai_visualizer_msgs::msg::ShapePoint point;
+      crane_visualization_interfaces::msg::ShapePoint point;
       point.x = x;
       point.y = y;
       point.color.name = color;
@@ -672,7 +683,7 @@ struct ConsaiVisualizerBuffer
       addPoint(p.x(), p.y(), size, color, alpha, caption);
     }
 
-    void addPoint(consai_visualizer_msgs::msg::ShapePoint point)
+    void addPoint(crane_visualization_interfaces::msg::ShapePoint point)
     {
       message_buffer.points.push_back(point);
     }
@@ -681,7 +692,7 @@ struct ConsaiVisualizerBuffer
       double x1, double y1, double x2, double y2, int size, const std::string & color = "white",
       double alpha = 1.0, const std::string & caption = "")
     {
-      consai_visualizer_msgs::msg::ShapeLine line;
+      crane_visualization_interfaces::msg::ShapeLine line;
       line.p1.x = x1;
       line.p1.y = y1;
       line.p2.x = x2;
@@ -700,7 +711,7 @@ struct ConsaiVisualizerBuffer
       addLine(p1.x(), p1.y(), p2.x(), p2.y(), size, color, alpha, caption);
     }
 
-    void addLine(consai_visualizer_msgs::msg::ShapeLine line)
+    void addLine(crane_visualization_interfaces::msg::ShapeLine line)
     {
       message_buffer.lines.push_back(line);
     }
@@ -709,7 +720,7 @@ struct ConsaiVisualizerBuffer
       double x, double y, double radius, double start_angle, double end_angle, int size,
       const std::string & color = "white", double alpha = 1.0, const std::string & caption = "")
     {
-      consai_visualizer_msgs::msg::ShapeArc arc;
+      crane_visualization_interfaces::msg::ShapeArc arc;
       arc.center.x = x;
       arc.center.y = y;
       arc.radius = radius;
@@ -729,14 +740,17 @@ struct ConsaiVisualizerBuffer
       addArc(center.x(), center.y(), radius, start_angle, end_angle, size, color, alpha, caption);
     }
 
-    void addArc(consai_visualizer_msgs::msg::ShapeArc arc) { message_buffer.arcs.push_back(arc); }
+    void addArc(crane_visualization_interfaces::msg::ShapeArc arc)
+    {
+      message_buffer.arcs.push_back(arc);
+    }
 
     void addRect(
       double x, double y, double width, double height, int line_size,
       const std::string & line_color = "white", const std::string & fill_color = "white",
       double alpha = 1.0, const std::string & caption = "")
     {
-      consai_visualizer_msgs::msg::ShapeRectangle rect;
+      crane_visualization_interfaces::msg::ShapeRectangle rect;
       rect.center.x = x;
       rect.center.y = y;
       rect.width = width;
@@ -775,7 +789,7 @@ struct ConsaiVisualizerBuffer
       addRect(center, width, height, line_size, line_color, fill_color, alpha, caption);
     }
 
-    void addRect(consai_visualizer_msgs::msg::ShapeRectangle rect)
+    void addRect(crane_visualization_interfaces::msg::ShapeRectangle rect)
     {
       message_buffer.rects.push_back(rect);
     }
@@ -785,7 +799,7 @@ struct ConsaiVisualizerBuffer
       const std::string & fill_color = "white", double alpha = 1.0,
       const std::string & caption = "")
     {
-      consai_visualizer_msgs::msg::ShapeCircle circle;
+      crane_visualization_interfaces::msg::ShapeCircle circle;
       circle.center.x = x;
       circle.center.y = y;
       circle.radius = radius;
@@ -810,7 +824,7 @@ struct ConsaiVisualizerBuffer
       addCircle(center.x(), center.y(), radius, line_size, line_color, fill_color, alpha, caption);
     }
 
-    void addCircle(consai_visualizer_msgs::msg::ShapeCircle circle)
+    void addCircle(crane_visualization_interfaces::msg::ShapeCircle circle)
     {
       message_buffer.circles.push_back(circle);
     }
@@ -820,7 +834,7 @@ struct ConsaiVisualizerBuffer
       const std::string & line_color = "white", const std::string & fill_color = "white",
       double alpha = 1.0, const std::string & caption = "")
     {
-      consai_visualizer_msgs::msg::ShapeTube tube;
+      crane_visualization_interfaces::msg::ShapeTube tube;
       tube.p1.x = x1;
       tube.p1.y = y1;
       tube.p2.x = x2;
@@ -844,7 +858,7 @@ struct ConsaiVisualizerBuffer
         p1.x(), p1.y(), p2.x(), p2.y(), radius, line_size, line_color, fill_color, alpha, caption);
     }
 
-    void addTube(consai_visualizer_msgs::msg::ShapeTube tube)
+    void addTube(crane_visualization_interfaces::msg::ShapeTube tube)
     {
       message_buffer.tubes.push_back(tube);
     }
@@ -854,7 +868,7 @@ struct ConsaiVisualizerBuffer
       const std::string & fill_color = "white", double alpha = 1.0, double line_size = 1,
       const std::string & caption = "", bool color_type = false)
     {
-      consai_visualizer_msgs::msg::ShapeRobot robot;
+      crane_visualization_interfaces::msg::ShapeRobot robot;
       robot.x = x;
       robot.y = y;
       robot.theta = theta;
@@ -879,7 +893,7 @@ struct ConsaiVisualizerBuffer
         id, p.x(), p.y(), theta, line_color, fill_color, alpha, line_size, caption, color_type);
     }
 
-    void addRobot(consai_visualizer_msgs::msg::ShapeRobot robot)
+    void addRobot(crane_visualization_interfaces::msg::ShapeRobot robot)
     {
       message_buffer.robots.push_back(robot);
     }
diff --git a/utility/crane_msg_wrappers/package.xml b/utility/crane_msg_wrappers/package.xml
index e462c8819..dcb8e9d34 100755
--- a/utility/crane_msg_wrappers/package.xml
+++ b/utility/crane_msg_wrappers/package.xml
@@ -10,9 +10,9 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>closest_point_vendor</depend>
-  <depend>consai_visualizer_msgs</depend>
   <depend>crane_basics</depend>
   <depend>crane_msgs</depend>
+  <depend>crane_visualization_interfaces</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>