diff --git a/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp b/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp
index 22e8e4b06..5b52ef8bb 100644
--- a/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp
+++ b/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp
@@ -282,20 +282,19 @@ void OptimizationTrajectoryBasedCenterline::init_path_generator_node(
   const geometry_msgs::msg::Pose current_pose, LaneletMapBin::ConstSharedPtr & map_bin_ptr,
   const LaneletRoute & route) const
 {
-  autoware::path_generator::PathGenerator::InputData path_generator_input;
+  if (path_generator_node_) {
+    return;
+  }
 
-  if (!path_generator_node_) {
-    // initialize node, lanelet map and route
-    path_generator_node_ =
-      std::make_shared<autoware::path_generator::PathGenerator>(create_node_options());
+  // initialize node, lanelet map and route
+  path_generator_node_ =
+    std::make_shared<autoware::path_generator::PathGenerator>(create_node_options());
 
-    // NOTE: no need to register every time
-    path_generator_input.lanelet_map_bin_ptr = map_bin_ptr;
-    path_generator_input.route_ptr = std::make_shared<LaneletRoute>(route);
-  }
+  autoware::path_generator::PathGenerator::RouteManagerData route_manager_data;
+  route_manager_data.lanelet_map_bin_ptr = map_bin_ptr;
+  route_manager_data.route_ptr = std::make_shared<LaneletRoute>(route);
 
-  path_generator_input.odometry_ptr = utils::convert_to_odometry(current_pose);
-  path_generator_node_->set_planner_data(path_generator_input);
+  path_generator_node_->initialize_route_manager(route_manager_data, current_pose);
 }
 
 std::shared_ptr<autoware::behavior_path_planner::PlannerData>
diff --git a/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.hpp b/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.hpp
index cae845ac6..bc76dd55c 100644
--- a/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.hpp
+++ b/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.hpp
@@ -17,9 +17,7 @@
 
 #include "autoware/behavior_path_goal_planner_module/default_fixed_goal_planner.hpp"
 #include "autoware/behavior_path_goal_planner_module/fixed_goal_planner_base.hpp"
-#include "autoware/path_generator/common_structs.hpp"
 #include "autoware/path_generator/node.hpp"
-#include "autoware/path_generator/utils.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "type_alias.hpp"