diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 7b1e69db6a9b0..1be48927e370d 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -89,7 +89,7 @@ localization/autoware_pose_initializer/** anh.nguyen.2@tier4.jp isamu.takagi@tie
 localization/autoware_pose_instability_detector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/autoware_stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/autoware_twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
-localization/ekf_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp
+localization/autoware_ekf_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp
 localization/localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/ndt_scan_matcher/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 localization/yabloc/yabloc_common/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
diff --git a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
index b162a3851e1b9..c8e67db7237b6 100644
--- a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
+++ b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <group>
-    <include file="$(find-pkg-share ekf_localizer)/launch/ekf_localizer.launch.xml">
+    <include file="$(find-pkg-share autoware_ekf_localizer)/launch/ekf_localizer.launch.xml">
       <arg name="input_initial_pose_name" value="/initialpose3d"/>
       <arg name="input_pose_with_cov_name" value="/localization/pose_estimator/pose_with_covariance"/>
       <arg name="input_twist_with_cov_name" value="/localization/twist_estimator/twist_with_covariance"/>
diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml
index be22d21707cec..20c39c0b58f2e 100644
--- a/launch/tier4_localization_launch/package.xml
+++ b/launch/tier4_localization_launch/package.xml
@@ -19,6 +19,7 @@
 
   <exec_depend>automatic_pose_initializer</exec_depend>
   <exec_depend>autoware_ar_tag_based_localizer</exec_depend>
+  <exec_depend>autoware_ekf_localizer</exec_depend>
   <exec_depend>autoware_geo_pose_projector</exec_depend>
   <exec_depend>autoware_gyro_odometer</exec_depend>
   <exec_depend>autoware_lidar_marker_localizer</exec_depend>
@@ -29,7 +30,6 @@
   <exec_depend>eagleye_geo_pose_fusion</exec_depend>
   <exec_depend>eagleye_gnss_converter</exec_depend>
   <exec_depend>eagleye_rt</exec_depend>
-  <exec_depend>ekf_localizer</exec_depend>
   <exec_depend>ndt_scan_matcher</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>yabloc_common</exec_depend>
diff --git a/localization/ekf_localizer/CMakeLists.txt b/localization/autoware_ekf_localizer/CMakeLists.txt
similarity index 98%
rename from localization/ekf_localizer/CMakeLists.txt
rename to localization/autoware_ekf_localizer/CMakeLists.txt
index cf82d6f7798dc..6ace0b413d7a6 100644
--- a/localization/ekf_localizer/CMakeLists.txt
+++ b/localization/autoware_ekf_localizer/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(ekf_localizer)
+project(autoware_ekf_localizer)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
diff --git a/localization/ekf_localizer/README.md b/localization/autoware_ekf_localizer/README.md
similarity index 93%
rename from localization/ekf_localizer/README.md
rename to localization/autoware_ekf_localizer/README.md
index 7c1bc5257105b..fb367e5b42286 100644
--- a/localization/ekf_localizer/README.md
+++ b/localization/autoware_ekf_localizer/README.md
@@ -4,7 +4,7 @@ The **Extend Kalman Filter Localizer** estimates robust and less noisy robot pos
 
 ## Flowchart
 
-The overall flowchart of the ekf_localizer is described below.
+The overall flowchart of the autoware_ekf_localizer is described below.
 
 <p align="center">
   <img src="./media/ekf_flowchart.png" width="800">
@@ -78,33 +78,33 @@ The parameters are set in `launch/ekf_localizer.launch` .
 
 ### For Node
 
-{{ json_to_markdown("localization/ekf_localizer/schema/sub/node.sub_schema.json") }}
+{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/node.sub_schema.json") }}
 
 ### For pose measurement
 
-{{ json_to_markdown("localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json") }}
+{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/pose_measurement.sub_schema.json") }}
 
 ### For twist measurement
 
-{{ json_to_markdown("localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json") }}
+{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/twist_measurement.sub_schema.json") }}
 
 ### For process noise
 
-{{ json_to_markdown("localization/ekf_localizer/schema/sub/process_noise.sub_schema.json") }}
+{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/process_noise.sub_schema.json") }}
 
 note: process noise for positions x & y are calculated automatically from nonlinear dynamics.
 
 ### Simple 1D Filter Parameters
 
-{{ json_to_markdown("localization/ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json") }}
+{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json") }}
 
 ### For diagnostics
 
-{{ json_to_markdown("localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json") }}
+{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/diagnostics.sub_schema.json") }}
 
 ### Misc
 
-{{ json_to_markdown("localization/ekf_localizer/schema/sub/misc.sub_schema.json") }}
+{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/misc.sub_schema.json") }}
 
 ## How to tune EKF parameters
 
diff --git a/localization/ekf_localizer/config/ekf_localizer.param.yaml b/localization/autoware_ekf_localizer/config/ekf_localizer.param.yaml
similarity index 100%
rename from localization/ekf_localizer/config/ekf_localizer.param.yaml
rename to localization/autoware_ekf_localizer/config/ekf_localizer.param.yaml
diff --git a/localization/ekf_localizer/include/ekf_localizer/aged_object_queue.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/aged_object_queue.hpp
similarity index 90%
rename from localization/ekf_localizer/include/ekf_localizer/aged_object_queue.hpp
rename to localization/autoware_ekf_localizer/include/autoware/ekf_localizer/aged_object_queue.hpp
index 44834de01ddfc..2b6f209c7121e 100644
--- a/localization/ekf_localizer/include/ekf_localizer/aged_object_queue.hpp
+++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/aged_object_queue.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_
-#define EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_
+#ifndef AUTOWARE__EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_
+#define AUTOWARE__EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_
 
 #include <cstddef>
 #include <queue>
@@ -68,4 +68,4 @@ class AgedObjectQueue
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_
+#endif  // AUTOWARE__EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_
diff --git a/localization/ekf_localizer/include/ekf_localizer/covariance.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/covariance.hpp
similarity index 80%
rename from localization/ekf_localizer/include/ekf_localizer/covariance.hpp
rename to localization/autoware_ekf_localizer/include/autoware/ekf_localizer/covariance.hpp
index 460d38429d056..018b93f86d816 100644
--- a/localization/ekf_localizer/include/ekf_localizer/covariance.hpp
+++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/covariance.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EKF_LOCALIZER__COVARIANCE_HPP_
-#define EKF_LOCALIZER__COVARIANCE_HPP_
+#ifndef AUTOWARE__EKF_LOCALIZER__COVARIANCE_HPP_
+#define AUTOWARE__EKF_LOCALIZER__COVARIANCE_HPP_
 
-#include "ekf_localizer/matrix_types.hpp"
+#include "autoware/ekf_localizer/matrix_types.hpp"
 
 namespace autoware::ekf_localizer
 {
@@ -25,4 +25,4 @@ std::array<double, 36> ekf_covariance_to_twist_message_covariance(const Matrix6d
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // EKF_LOCALIZER__COVARIANCE_HPP_
+#endif  // AUTOWARE__EKF_LOCALIZER__COVARIANCE_HPP_
diff --git a/localization/ekf_localizer/include/ekf_localizer/diagnostics.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/diagnostics.hpp
similarity index 92%
rename from localization/ekf_localizer/include/ekf_localizer/diagnostics.hpp
rename to localization/autoware_ekf_localizer/include/autoware/ekf_localizer/diagnostics.hpp
index c02cd6e2944d6..20a77354c0996 100644
--- a/localization/ekf_localizer/include/ekf_localizer/diagnostics.hpp
+++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/diagnostics.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EKF_LOCALIZER__DIAGNOSTICS_HPP_
-#define EKF_LOCALIZER__DIAGNOSTICS_HPP_
+#ifndef AUTOWARE__EKF_LOCALIZER__DIAGNOSTICS_HPP_
+#define AUTOWARE__EKF_LOCALIZER__DIAGNOSTICS_HPP_
 
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 
@@ -45,4 +45,4 @@ diagnostic_msgs::msg::DiagnosticStatus merge_diagnostic_status(
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // EKF_LOCALIZER__DIAGNOSTICS_HPP_
+#endif  // AUTOWARE__EKF_LOCALIZER__DIAGNOSTICS_HPP_
diff --git a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp
similarity index 94%
rename from localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp
rename to localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp
index 14c8347379af2..f56aa8cf78c53 100644
--- a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp
+++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EKF_LOCALIZER__EKF_LOCALIZER_HPP_
-#define EKF_LOCALIZER__EKF_LOCALIZER_HPP_
+#ifndef AUTOWARE__EKF_LOCALIZER__EKF_LOCALIZER_HPP_
+#define AUTOWARE__EKF_LOCALIZER__EKF_LOCALIZER_HPP_
 
-#include "ekf_localizer/aged_object_queue.hpp"
-#include "ekf_localizer/ekf_module.hpp"
-#include "ekf_localizer/hyper_parameters.hpp"
-#include "ekf_localizer/warning.hpp"
+#include "autoware/ekf_localizer/aged_object_queue.hpp"
+#include "autoware/ekf_localizer/ekf_module.hpp"
+#include "autoware/ekf_localizer/hyper_parameters.hpp"
+#include "autoware/ekf_localizer/warning.hpp"
 
 #include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware/universe_utils/ros/logger_level_configure.hpp>
@@ -198,4 +198,4 @@ class EKFLocalizer : public rclcpp::Node
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // EKF_LOCALIZER__EKF_LOCALIZER_HPP_
+#endif  // AUTOWARE__EKF_LOCALIZER__EKF_LOCALIZER_HPP_
diff --git a/localization/ekf_localizer/include/ekf_localizer/ekf_module.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_module.hpp
similarity index 93%
rename from localization/ekf_localizer/include/ekf_localizer/ekf_module.hpp
rename to localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_module.hpp
index 0659e3f73315b..36fc9053ef4d6 100644
--- a/localization/ekf_localizer/include/ekf_localizer/ekf_module.hpp
+++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_module.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EKF_LOCALIZER__EKF_MODULE_HPP_
-#define EKF_LOCALIZER__EKF_MODULE_HPP_
+#ifndef AUTOWARE__EKF_LOCALIZER__EKF_MODULE_HPP_
+#define AUTOWARE__EKF_LOCALIZER__EKF_MODULE_HPP_
 
-#include "ekf_localizer/hyper_parameters.hpp"
-#include "ekf_localizer/state_index.hpp"
-#include "ekf_localizer/warning.hpp"
+#include "autoware/ekf_localizer/hyper_parameters.hpp"
+#include "autoware/ekf_localizer/state_index.hpp"
+#include "autoware/ekf_localizer/warning.hpp"
 
 #include <autoware/kalman_filter/kalman_filter.hpp>
 #include <autoware/kalman_filter/time_delay_kalman_filter.hpp>
@@ -153,4 +153,4 @@ class EKFModule
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // EKF_LOCALIZER__EKF_MODULE_HPP_
+#endif  // AUTOWARE__EKF_LOCALIZER__EKF_MODULE_HPP_
diff --git a/localization/ekf_localizer/include/ekf_localizer/hyper_parameters.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/hyper_parameters.hpp
similarity index 96%
rename from localization/ekf_localizer/include/ekf_localizer/hyper_parameters.hpp
rename to localization/autoware_ekf_localizer/include/autoware/ekf_localizer/hyper_parameters.hpp
index db1f59984adca..44db5b2dc7ce4 100644
--- a/localization/ekf_localizer/include/ekf_localizer/hyper_parameters.hpp
+++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/hyper_parameters.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EKF_LOCALIZER__HYPER_PARAMETERS_HPP_
-#define EKF_LOCALIZER__HYPER_PARAMETERS_HPP_
+#ifndef AUTOWARE__EKF_LOCALIZER__HYPER_PARAMETERS_HPP_
+#define AUTOWARE__EKF_LOCALIZER__HYPER_PARAMETERS_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -107,4 +107,4 @@ class HyperParameters
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // EKF_LOCALIZER__HYPER_PARAMETERS_HPP_
+#endif  // AUTOWARE__EKF_LOCALIZER__HYPER_PARAMETERS_HPP_
diff --git a/localization/ekf_localizer/include/ekf_localizer/mahalanobis.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/mahalanobis.hpp
similarity index 85%
rename from localization/ekf_localizer/include/ekf_localizer/mahalanobis.hpp
rename to localization/autoware_ekf_localizer/include/autoware/ekf_localizer/mahalanobis.hpp
index abb98b95d329e..c1538a72f56b6 100644
--- a/localization/ekf_localizer/include/ekf_localizer/mahalanobis.hpp
+++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/mahalanobis.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EKF_LOCALIZER__MAHALANOBIS_HPP_
-#define EKF_LOCALIZER__MAHALANOBIS_HPP_
+#ifndef AUTOWARE__EKF_LOCALIZER__MAHALANOBIS_HPP_
+#define AUTOWARE__EKF_LOCALIZER__MAHALANOBIS_HPP_
 
 #include <Eigen/Core>
 #include <Eigen/Dense>
@@ -28,4 +28,4 @@ double mahalanobis(const Eigen::VectorXd & x, const Eigen::VectorXd & y, const E
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // EKF_LOCALIZER__MAHALANOBIS_HPP_
+#endif  // AUTOWARE__EKF_LOCALIZER__MAHALANOBIS_HPP_
diff --git a/localization/ekf_localizer/include/ekf_localizer/matrix_types.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/matrix_types.hpp
similarity index 83%
rename from localization/ekf_localizer/include/ekf_localizer/matrix_types.hpp
rename to localization/autoware_ekf_localizer/include/autoware/ekf_localizer/matrix_types.hpp
index ccfa9f3679f94..fc75dfe72bb9d 100644
--- a/localization/ekf_localizer/include/ekf_localizer/matrix_types.hpp
+++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/matrix_types.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EKF_LOCALIZER__MATRIX_TYPES_HPP_
-#define EKF_LOCALIZER__MATRIX_TYPES_HPP_
+#ifndef AUTOWARE__EKF_LOCALIZER__MATRIX_TYPES_HPP_
+#define AUTOWARE__EKF_LOCALIZER__MATRIX_TYPES_HPP_
 
 #include <Eigen/Core>
 
@@ -25,4 +25,4 @@ using Matrix6d = Eigen::Matrix<double, 6, 6>;
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // EKF_LOCALIZER__MATRIX_TYPES_HPP_
+#endif  // AUTOWARE__EKF_LOCALIZER__MATRIX_TYPES_HPP_
diff --git a/localization/ekf_localizer/include/ekf_localizer/measurement.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/measurement.hpp
similarity index 87%
rename from localization/ekf_localizer/include/ekf_localizer/measurement.hpp
rename to localization/autoware_ekf_localizer/include/autoware/ekf_localizer/measurement.hpp
index f38d291d41c62..b8db07015ec46 100644
--- a/localization/ekf_localizer/include/ekf_localizer/measurement.hpp
+++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/measurement.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EKF_LOCALIZER__MEASUREMENT_HPP_
-#define EKF_LOCALIZER__MEASUREMENT_HPP_
+#ifndef AUTOWARE__EKF_LOCALIZER__MEASUREMENT_HPP_
+#define AUTOWARE__EKF_LOCALIZER__MEASUREMENT_HPP_
 
 #include <Eigen/Core>
 
@@ -29,4 +29,4 @@ Eigen::Matrix2d twist_measurement_covariance(
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // EKF_LOCALIZER__MEASUREMENT_HPP_
+#endif  // AUTOWARE__EKF_LOCALIZER__MEASUREMENT_HPP_
diff --git a/localization/ekf_localizer/include/ekf_localizer/numeric.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/numeric.hpp
similarity index 86%
rename from localization/ekf_localizer/include/ekf_localizer/numeric.hpp
rename to localization/autoware_ekf_localizer/include/autoware/ekf_localizer/numeric.hpp
index d69c22263190f..253da4eb7f6dc 100644
--- a/localization/ekf_localizer/include/ekf_localizer/numeric.hpp
+++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/numeric.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EKF_LOCALIZER__NUMERIC_HPP_
-#define EKF_LOCALIZER__NUMERIC_HPP_
+#ifndef AUTOWARE__EKF_LOCALIZER__NUMERIC_HPP_
+#define AUTOWARE__EKF_LOCALIZER__NUMERIC_HPP_
 
 #include <Eigen/Core>
 
@@ -34,4 +34,4 @@ inline bool has_nan(const Eigen::MatrixXd & v)
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // EKF_LOCALIZER__NUMERIC_HPP_
+#endif  // AUTOWARE__EKF_LOCALIZER__NUMERIC_HPP_
diff --git a/localization/ekf_localizer/include/ekf_localizer/state_index.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_index.hpp
similarity index 83%
rename from localization/ekf_localizer/include/ekf_localizer/state_index.hpp
rename to localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_index.hpp
index d09fa6e31a36c..86fe83ec4aa8b 100644
--- a/localization/ekf_localizer/include/ekf_localizer/state_index.hpp
+++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_index.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EKF_LOCALIZER__STATE_INDEX_HPP_
-#define EKF_LOCALIZER__STATE_INDEX_HPP_
+#ifndef AUTOWARE__EKF_LOCALIZER__STATE_INDEX_HPP_
+#define AUTOWARE__EKF_LOCALIZER__STATE_INDEX_HPP_
 
 namespace autoware::ekf_localizer
 {
@@ -29,4 +29,4 @@ enum IDX {
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // EKF_LOCALIZER__STATE_INDEX_HPP_
+#endif  // AUTOWARE__EKF_LOCALIZER__STATE_INDEX_HPP_
diff --git a/localization/ekf_localizer/include/ekf_localizer/state_transition.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_transition.hpp
similarity index 81%
rename from localization/ekf_localizer/include/ekf_localizer/state_transition.hpp
rename to localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_transition.hpp
index 22f38924ab31e..e6ce18e76a3a4 100644
--- a/localization/ekf_localizer/include/ekf_localizer/state_transition.hpp
+++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_transition.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EKF_LOCALIZER__STATE_TRANSITION_HPP_
-#define EKF_LOCALIZER__STATE_TRANSITION_HPP_
+#ifndef AUTOWARE__EKF_LOCALIZER__STATE_TRANSITION_HPP_
+#define AUTOWARE__EKF_LOCALIZER__STATE_TRANSITION_HPP_
 
-#include "ekf_localizer/matrix_types.hpp"
+#include "autoware/ekf_localizer/matrix_types.hpp"
 
 namespace autoware::ekf_localizer
 {
@@ -28,4 +28,4 @@ Matrix6d process_noise_covariance(
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // EKF_LOCALIZER__STATE_TRANSITION_HPP_
+#endif  // AUTOWARE__EKF_LOCALIZER__STATE_TRANSITION_HPP_
diff --git a/localization/ekf_localizer/include/ekf_localizer/string.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/string.hpp
similarity index 85%
rename from localization/ekf_localizer/include/ekf_localizer/string.hpp
rename to localization/autoware_ekf_localizer/include/autoware/ekf_localizer/string.hpp
index e4ac56b55b791..0146176b7ddc1 100644
--- a/localization/ekf_localizer/include/ekf_localizer/string.hpp
+++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/string.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EKF_LOCALIZER__STRING_HPP_
-#define EKF_LOCALIZER__STRING_HPP_
+#ifndef AUTOWARE__EKF_LOCALIZER__STRING_HPP_
+#define AUTOWARE__EKF_LOCALIZER__STRING_HPP_
 
 #include <string>
 
@@ -31,4 +31,4 @@ inline std::string erase_leading_slash(const std::string & s)
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // EKF_LOCALIZER__STRING_HPP_
+#endif  // AUTOWARE__EKF_LOCALIZER__STRING_HPP_
diff --git a/localization/ekf_localizer/include/ekf_localizer/warning.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning.hpp
similarity index 89%
rename from localization/ekf_localizer/include/ekf_localizer/warning.hpp
rename to localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning.hpp
index 4ec57d3541a42..f43c5e3413213 100644
--- a/localization/ekf_localizer/include/ekf_localizer/warning.hpp
+++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EKF_LOCALIZER__WARNING_HPP_
-#define EKF_LOCALIZER__WARNING_HPP_
+#ifndef AUTOWARE__EKF_LOCALIZER__WARNING_HPP_
+#define AUTOWARE__EKF_LOCALIZER__WARNING_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -45,4 +45,4 @@ class Warning
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // EKF_LOCALIZER__WARNING_HPP_
+#endif  // AUTOWARE__EKF_LOCALIZER__WARNING_HPP_
diff --git a/localization/ekf_localizer/include/ekf_localizer/warning_message.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning_message.hpp
similarity index 87%
rename from localization/ekf_localizer/include/ekf_localizer/warning_message.hpp
rename to localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning_message.hpp
index 579e845cc1c5e..b379e35763f54 100644
--- a/localization/ekf_localizer/include/ekf_localizer/warning_message.hpp
+++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning_message.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EKF_LOCALIZER__WARNING_MESSAGE_HPP_
-#define EKF_LOCALIZER__WARNING_MESSAGE_HPP_
+#ifndef AUTOWARE__EKF_LOCALIZER__WARNING_MESSAGE_HPP_
+#define AUTOWARE__EKF_LOCALIZER__WARNING_MESSAGE_HPP_
 
 #include <string>
 
@@ -30,4 +30,4 @@ std::string mahalanobis_warning_message(const double distance, const double max_
 
 }  // namespace autoware::ekf_localizer
 
-#endif  // EKF_LOCALIZER__WARNING_MESSAGE_HPP_
+#endif  // AUTOWARE__EKF_LOCALIZER__WARNING_MESSAGE_HPP_
diff --git a/localization/ekf_localizer/launch/ekf_localizer.launch.xml b/localization/autoware_ekf_localizer/launch/ekf_localizer.launch.xml
similarity index 90%
rename from localization/ekf_localizer/launch/ekf_localizer.launch.xml
rename to localization/autoware_ekf_localizer/launch/ekf_localizer.launch.xml
index 3c66fabe34650..2942abe1ff11e 100644
--- a/localization/ekf_localizer/launch/ekf_localizer.launch.xml
+++ b/localization/autoware_ekf_localizer/launch/ekf_localizer.launch.xml
@@ -1,5 +1,5 @@
 <launch>
-  <arg name="param_file" default="$(find-pkg-share ekf_localizer)/config/ekf_localizer.param.yaml"/>
+  <arg name="param_file" default="$(find-pkg-share autoware_ekf_localizer)/config/ekf_localizer.param.yaml"/>
 
   <arg name="input_initial_pose_name" default="initialpose3d"/>
   <arg name="input_trigger_node_service_name" default="trigger_node" description="trigger node service"/>
@@ -17,7 +17,7 @@
   <arg name="output_twist_name" default="ekf_twist"/>
   <arg name="output_twist_with_covariance_name" default="ekf_twist_with_covariance"/>
 
-  <node pkg="ekf_localizer" exec="ekf_localizer_node" output="both">
+  <node pkg="autoware_ekf_localizer" exec="autoware_ekf_localizer_node" output="both">
     <remap from="in_pose_with_covariance" to="$(var input_pose_with_cov_name)"/>
 
     <remap from="in_twist_with_covariance" to="$(var input_twist_with_cov_name)"/>
diff --git a/localization/ekf_localizer/media/calculation_delta_from_pitch.png b/localization/autoware_ekf_localizer/media/calculation_delta_from_pitch.png
similarity index 100%
rename from localization/ekf_localizer/media/calculation_delta_from_pitch.png
rename to localization/autoware_ekf_localizer/media/calculation_delta_from_pitch.png
diff --git a/localization/ekf_localizer/media/delay_model_eq.png b/localization/autoware_ekf_localizer/media/delay_model_eq.png
similarity index 100%
rename from localization/ekf_localizer/media/delay_model_eq.png
rename to localization/autoware_ekf_localizer/media/delay_model_eq.png
diff --git a/localization/ekf_localizer/media/ekf_autoware_res.png b/localization/autoware_ekf_localizer/media/ekf_autoware_res.png
similarity index 100%
rename from localization/ekf_localizer/media/ekf_autoware_res.png
rename to localization/autoware_ekf_localizer/media/ekf_autoware_res.png
diff --git a/localization/ekf_localizer/media/ekf_delay_comp.png b/localization/autoware_ekf_localizer/media/ekf_delay_comp.png
similarity index 100%
rename from localization/ekf_localizer/media/ekf_delay_comp.png
rename to localization/autoware_ekf_localizer/media/ekf_delay_comp.png
diff --git a/localization/ekf_localizer/media/ekf_diagnostics.png b/localization/autoware_ekf_localizer/media/ekf_diagnostics.png
similarity index 100%
rename from localization/ekf_localizer/media/ekf_diagnostics.png
rename to localization/autoware_ekf_localizer/media/ekf_diagnostics.png
diff --git a/localization/ekf_localizer/media/ekf_diagnostics_callback_pose.png b/localization/autoware_ekf_localizer/media/ekf_diagnostics_callback_pose.png
similarity index 100%
rename from localization/ekf_localizer/media/ekf_diagnostics_callback_pose.png
rename to localization/autoware_ekf_localizer/media/ekf_diagnostics_callback_pose.png
diff --git a/localization/ekf_localizer/media/ekf_diagnostics_callback_twist.png b/localization/autoware_ekf_localizer/media/ekf_diagnostics_callback_twist.png
similarity index 100%
rename from localization/ekf_localizer/media/ekf_diagnostics_callback_twist.png
rename to localization/autoware_ekf_localizer/media/ekf_diagnostics_callback_twist.png
diff --git a/localization/ekf_localizer/media/ekf_dynamics.png b/localization/autoware_ekf_localizer/media/ekf_dynamics.png
similarity index 100%
rename from localization/ekf_localizer/media/ekf_dynamics.png
rename to localization/autoware_ekf_localizer/media/ekf_dynamics.png
diff --git a/localization/ekf_localizer/media/ekf_flowchart.png b/localization/autoware_ekf_localizer/media/ekf_flowchart.png
similarity index 100%
rename from localization/ekf_localizer/media/ekf_flowchart.png
rename to localization/autoware_ekf_localizer/media/ekf_flowchart.png
diff --git a/localization/ekf_localizer/media/ekf_smooth_update.png b/localization/autoware_ekf_localizer/media/ekf_smooth_update.png
similarity index 100%
rename from localization/ekf_localizer/media/ekf_smooth_update.png
rename to localization/autoware_ekf_localizer/media/ekf_smooth_update.png
diff --git a/localization/ekf_localizer/package.xml b/localization/autoware_ekf_localizer/package.xml
similarity index 94%
rename from localization/ekf_localizer/package.xml
rename to localization/autoware_ekf_localizer/package.xml
index 34881ddd3c68c..7f33fb0b946d1 100644
--- a/localization/ekf_localizer/package.xml
+++ b/localization/autoware_ekf_localizer/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>ekf_localizer</name>
+  <name>autoware_ekf_localizer</name>
   <version>0.1.0</version>
-  <description>The ekf_localizer package</description>
+  <description>The autoware_ekf_localizer package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="takeshi.ishita@tier4.jp">Takeshi Ishita</maintainer>
diff --git a/localization/ekf_localizer/schema/ekf_localizer.schema.json b/localization/autoware_ekf_localizer/schema/ekf_localizer.schema.json
similarity index 100%
rename from localization/ekf_localizer/schema/ekf_localizer.schema.json
rename to localization/autoware_ekf_localizer/schema/ekf_localizer.schema.json
diff --git a/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/diagnostics.sub_schema.json
similarity index 100%
rename from localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json
rename to localization/autoware_ekf_localizer/schema/sub/diagnostics.sub_schema.json
diff --git a/localization/ekf_localizer/schema/sub/misc.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/misc.sub_schema.json
similarity index 100%
rename from localization/ekf_localizer/schema/sub/misc.sub_schema.json
rename to localization/autoware_ekf_localizer/schema/sub/misc.sub_schema.json
diff --git a/localization/ekf_localizer/schema/sub/node.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/node.sub_schema.json
similarity index 100%
rename from localization/ekf_localizer/schema/sub/node.sub_schema.json
rename to localization/autoware_ekf_localizer/schema/sub/node.sub_schema.json
diff --git a/localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/pose_measurement.sub_schema.json
similarity index 100%
rename from localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json
rename to localization/autoware_ekf_localizer/schema/sub/pose_measurement.sub_schema.json
diff --git a/localization/ekf_localizer/schema/sub/process_noise.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/process_noise.sub_schema.json
similarity index 100%
rename from localization/ekf_localizer/schema/sub/process_noise.sub_schema.json
rename to localization/autoware_ekf_localizer/schema/sub/process_noise.sub_schema.json
diff --git a/localization/ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json
similarity index 100%
rename from localization/ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json
rename to localization/autoware_ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json
diff --git a/localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/twist_measurement.sub_schema.json
similarity index 100%
rename from localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json
rename to localization/autoware_ekf_localizer/schema/sub/twist_measurement.sub_schema.json
diff --git a/localization/ekf_localizer/src/covariance.cpp b/localization/autoware_ekf_localizer/src/covariance.cpp
similarity index 94%
rename from localization/ekf_localizer/src/covariance.cpp
rename to localization/autoware_ekf_localizer/src/covariance.cpp
index 14bc57b869be6..9ed3a83fbf705 100644
--- a/localization/ekf_localizer/src/covariance.cpp
+++ b/localization/autoware_ekf_localizer/src/covariance.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ekf_localizer/covariance.hpp"
+#include "autoware/ekf_localizer/covariance.hpp"
 
+#include "autoware/ekf_localizer/state_index.hpp"
 #include "autoware/universe_utils/ros/msg_covariance.hpp"
-#include "ekf_localizer/state_index.hpp"
 
 namespace autoware::ekf_localizer
 {
diff --git a/localization/ekf_localizer/src/diagnostics.cpp b/localization/autoware_ekf_localizer/src/diagnostics.cpp
similarity index 99%
rename from localization/ekf_localizer/src/diagnostics.cpp
rename to localization/autoware_ekf_localizer/src/diagnostics.cpp
index 7e6b2b83f3025..a1af492487fe4 100644
--- a/localization/ekf_localizer/src/diagnostics.cpp
+++ b/localization/autoware_ekf_localizer/src/diagnostics.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ekf_localizer/diagnostics.hpp"
+#include "autoware/ekf_localizer/diagnostics.hpp"
 
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 
diff --git a/localization/ekf_localizer/src/ekf_localizer.cpp b/localization/autoware_ekf_localizer/src/ekf_localizer.cpp
similarity index 98%
rename from localization/ekf_localizer/src/ekf_localizer.cpp
rename to localization/autoware_ekf_localizer/src/ekf_localizer.cpp
index 6a3fd2265c637..f678412a25438 100644
--- a/localization/ekf_localizer/src/ekf_localizer.cpp
+++ b/localization/autoware_ekf_localizer/src/ekf_localizer.cpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ekf_localizer/ekf_localizer.hpp"
+#include "autoware/ekf_localizer/ekf_localizer.hpp"
 
-#include "ekf_localizer/diagnostics.hpp"
-#include "ekf_localizer/string.hpp"
-#include "ekf_localizer/warning_message.hpp"
+#include "autoware/ekf_localizer/diagnostics.hpp"
+#include "autoware/ekf_localizer/string.hpp"
+#include "autoware/ekf_localizer/warning_message.hpp"
 #include "localization_util/covariance_ellipse.hpp"
 
 #include <autoware/universe_utils/geometry/geometry.hpp>
diff --git a/localization/ekf_localizer/src/ekf_module.cpp b/localization/autoware_ekf_localizer/src/ekf_module.cpp
similarity index 97%
rename from localization/ekf_localizer/src/ekf_module.cpp
rename to localization/autoware_ekf_localizer/src/ekf_module.cpp
index f00608e0bb6a4..02c9f8ee30e08 100644
--- a/localization/ekf_localizer/src/ekf_module.cpp
+++ b/localization/autoware_ekf_localizer/src/ekf_module.cpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ekf_localizer/ekf_module.hpp"
+#include "autoware/ekf_localizer/ekf_module.hpp"
 
-#include "ekf_localizer/covariance.hpp"
-#include "ekf_localizer/mahalanobis.hpp"
-#include "ekf_localizer/matrix_types.hpp"
-#include "ekf_localizer/measurement.hpp"
-#include "ekf_localizer/numeric.hpp"
-#include "ekf_localizer/state_transition.hpp"
-#include "ekf_localizer/warning_message.hpp"
+#include "autoware/ekf_localizer/covariance.hpp"
+#include "autoware/ekf_localizer/mahalanobis.hpp"
+#include "autoware/ekf_localizer/matrix_types.hpp"
+#include "autoware/ekf_localizer/measurement.hpp"
+#include "autoware/ekf_localizer/numeric.hpp"
+#include "autoware/ekf_localizer/state_transition.hpp"
+#include "autoware/ekf_localizer/warning_message.hpp"
 
 #include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware/universe_utils/ros/msg_covariance.hpp>
@@ -29,6 +29,9 @@
 #include <tf2/LinearMath/Quaternion.h>
 #include <tf2/utils.h>
 
+#include <algorithm>
+#include <utility>
+
 namespace autoware::ekf_localizer
 {
 
diff --git a/localization/ekf_localizer/src/mahalanobis.cpp b/localization/autoware_ekf_localizer/src/mahalanobis.cpp
similarity index 95%
rename from localization/ekf_localizer/src/mahalanobis.cpp
rename to localization/autoware_ekf_localizer/src/mahalanobis.cpp
index be3bcb982f7b9..f7e56674b16bd 100644
--- a/localization/ekf_localizer/src/mahalanobis.cpp
+++ b/localization/autoware_ekf_localizer/src/mahalanobis.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ekf_localizer/mahalanobis.hpp"
+#include "autoware/ekf_localizer/mahalanobis.hpp"
 
 namespace autoware::ekf_localizer
 {
diff --git a/localization/ekf_localizer/src/measurement.cpp b/localization/autoware_ekf_localizer/src/measurement.cpp
similarity index 95%
rename from localization/ekf_localizer/src/measurement.cpp
rename to localization/autoware_ekf_localizer/src/measurement.cpp
index 9d6f4f7d5a4db..63db7d250f8d5 100644
--- a/localization/ekf_localizer/src/measurement.cpp
+++ b/localization/autoware_ekf_localizer/src/measurement.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ekf_localizer/measurement.hpp"
+#include "autoware/ekf_localizer/measurement.hpp"
 
+#include "autoware/ekf_localizer/state_index.hpp"
 #include "autoware/universe_utils/ros/msg_covariance.hpp"
-#include "ekf_localizer/state_index.hpp"
 
 namespace autoware::ekf_localizer
 {
diff --git a/localization/ekf_localizer/src/state_transition.cpp b/localization/autoware_ekf_localizer/src/state_transition.cpp
similarity index 95%
rename from localization/ekf_localizer/src/state_transition.cpp
rename to localization/autoware_ekf_localizer/src/state_transition.cpp
index e46fbd11c6629..f6a50b5839ec4 100644
--- a/localization/ekf_localizer/src/state_transition.cpp
+++ b/localization/autoware_ekf_localizer/src/state_transition.cpp
@@ -12,8 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ekf_localizer/matrix_types.hpp"
-#include "ekf_localizer/state_index.hpp"
+#include "autoware/ekf_localizer/state_transition.hpp"
+
+#include "autoware/ekf_localizer/matrix_types.hpp"
+#include "autoware/ekf_localizer/state_index.hpp"
 
 #include <cmath>
 
diff --git a/localization/ekf_localizer/src/warning_message.cpp b/localization/autoware_ekf_localizer/src/warning_message.cpp
similarity index 97%
rename from localization/ekf_localizer/src/warning_message.cpp
rename to localization/autoware_ekf_localizer/src/warning_message.cpp
index 0d92f1456ba54..0c1e127747365 100644
--- a/localization/ekf_localizer/src/warning_message.cpp
+++ b/localization/autoware_ekf_localizer/src/warning_message.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ekf_localizer/warning_message.hpp"
+#include "autoware/ekf_localizer/warning_message.hpp"
 
 #include <fmt/core.h>
 
diff --git a/localization/ekf_localizer/test/test_aged_object_queue.cpp b/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp
similarity index 97%
rename from localization/ekf_localizer/test/test_aged_object_queue.cpp
rename to localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp
index f0035fb111e0f..9cf56b80bb79a 100644
--- a/localization/ekf_localizer/test/test_aged_object_queue.cpp
+++ b/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ekf_localizer/aged_object_queue.hpp"
+#include "autoware/ekf_localizer/aged_object_queue.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/localization/ekf_localizer/test/test_covariance.cpp b/localization/autoware_ekf_localizer/test/test_covariance.cpp
similarity index 97%
rename from localization/ekf_localizer/test/test_covariance.cpp
rename to localization/autoware_ekf_localizer/test/test_covariance.cpp
index a382bcc82e851..cab09367d6340 100644
--- a/localization/ekf_localizer/test/test_covariance.cpp
+++ b/localization/autoware_ekf_localizer/test/test_covariance.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ekf_localizer/covariance.hpp"
+#include "autoware/ekf_localizer/covariance.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/localization/ekf_localizer/test/test_diagnostics.cpp b/localization/autoware_ekf_localizer/test/test_diagnostics.cpp
similarity index 99%
rename from localization/ekf_localizer/test/test_diagnostics.cpp
rename to localization/autoware_ekf_localizer/test/test_diagnostics.cpp
index bdde47b9c79f6..979f4c75deb84 100644
--- a/localization/ekf_localizer/test/test_diagnostics.cpp
+++ b/localization/autoware_ekf_localizer/test/test_diagnostics.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ekf_localizer/diagnostics.hpp"
+#include "autoware/ekf_localizer/diagnostics.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/localization/ekf_localizer/test/test_ekf_localizer_launch.py b/localization/autoware_ekf_localizer/test/test_ekf_localizer_launch.py
similarity index 98%
rename from localization/ekf_localizer/test/test_ekf_localizer_launch.py
rename to localization/autoware_ekf_localizer/test/test_ekf_localizer_launch.py
index f49388d783c12..1db0863636b04 100644
--- a/localization/ekf_localizer/test/test_ekf_localizer_launch.py
+++ b/localization/autoware_ekf_localizer/test/test_ekf_localizer_launch.py
@@ -36,7 +36,7 @@
 @pytest.mark.launch_test
 def generate_test_description():
     test_ekf_localizer_launch_file = os.path.join(
-        get_package_share_directory("ekf_localizer"),
+        get_package_share_directory("autoware_ekf_localizer"),
         "launch",
         "ekf_localizer.launch.xml",
     )
diff --git a/localization/ekf_localizer/test/test_ekf_localizer_mahalanobis.py b/localization/autoware_ekf_localizer/test/test_ekf_localizer_mahalanobis.py
similarity index 99%
rename from localization/ekf_localizer/test/test_ekf_localizer_mahalanobis.py
rename to localization/autoware_ekf_localizer/test/test_ekf_localizer_mahalanobis.py
index 4e95ac142e524..29afd4953520e 100644
--- a/localization/ekf_localizer/test/test_ekf_localizer_mahalanobis.py
+++ b/localization/autoware_ekf_localizer/test/test_ekf_localizer_mahalanobis.py
@@ -36,7 +36,7 @@
 @pytest.mark.launch_test
 def generate_test_description():
     test_ekf_localizer_launch_file = os.path.join(
-        get_package_share_directory("ekf_localizer"),
+        get_package_share_directory("autoware_ekf_localizer"),
         "launch",
         "ekf_localizer.launch.xml",
     )
diff --git a/localization/ekf_localizer/test/test_mahalanobis.cpp b/localization/autoware_ekf_localizer/test/test_mahalanobis.cpp
similarity index 96%
rename from localization/ekf_localizer/test/test_mahalanobis.cpp
rename to localization/autoware_ekf_localizer/test/test_mahalanobis.cpp
index 894af29f61e96..3f867470a3c63 100644
--- a/localization/ekf_localizer/test/test_mahalanobis.cpp
+++ b/localization/autoware_ekf_localizer/test/test_mahalanobis.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ekf_localizer/mahalanobis.hpp"
+#include "autoware/ekf_localizer/mahalanobis.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/localization/ekf_localizer/test/test_measurement.cpp b/localization/autoware_ekf_localizer/test/test_measurement.cpp
similarity index 98%
rename from localization/ekf_localizer/test/test_measurement.cpp
rename to localization/autoware_ekf_localizer/test/test_measurement.cpp
index ec4be9f121450..99dcc1744c33d 100644
--- a/localization/ekf_localizer/test/test_measurement.cpp
+++ b/localization/autoware_ekf_localizer/test/test_measurement.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ekf_localizer/measurement.hpp"
+#include "autoware/ekf_localizer/measurement.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/localization/ekf_localizer/test/test_numeric.cpp b/localization/autoware_ekf_localizer/test/test_numeric.cpp
similarity index 97%
rename from localization/ekf_localizer/test/test_numeric.cpp
rename to localization/autoware_ekf_localizer/test/test_numeric.cpp
index c68aaffc4b6c7..8071804f48304 100644
--- a/localization/ekf_localizer/test/test_numeric.cpp
+++ b/localization/autoware_ekf_localizer/test/test_numeric.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ekf_localizer/numeric.hpp"
+#include "autoware/ekf_localizer/numeric.hpp"
 
 #include <Eigen/Core>
 
diff --git a/localization/ekf_localizer/test/test_state_transition.cpp b/localization/autoware_ekf_localizer/test/test_state_transition.cpp
similarity index 96%
rename from localization/ekf_localizer/test/test_state_transition.cpp
rename to localization/autoware_ekf_localizer/test/test_state_transition.cpp
index 533075e4ac8f4..667c6b5ef2df8 100644
--- a/localization/ekf_localizer/test/test_state_transition.cpp
+++ b/localization/autoware_ekf_localizer/test/test_state_transition.cpp
@@ -13,8 +13,8 @@
 // limitations under the License.
 
 #define _USE_MATH_DEFINES
-#include "ekf_localizer/state_index.hpp"
-#include "ekf_localizer/state_transition.hpp"
+#include "autoware/ekf_localizer/state_index.hpp"
+#include "autoware/ekf_localizer/state_transition.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/localization/ekf_localizer/test/test_string.cpp b/localization/autoware_ekf_localizer/test/test_string.cpp
similarity index 95%
rename from localization/ekf_localizer/test/test_string.cpp
rename to localization/autoware_ekf_localizer/test/test_string.cpp
index 6bd38db1f3c21..b1fae1f88b74b 100644
--- a/localization/ekf_localizer/test/test_string.cpp
+++ b/localization/autoware_ekf_localizer/test/test_string.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ekf_localizer/string.hpp"
+#include "autoware/ekf_localizer/string.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/localization/ekf_localizer/test/test_warning_message.cpp b/localization/autoware_ekf_localizer/test/test_warning_message.cpp
similarity index 97%
rename from localization/ekf_localizer/test/test_warning_message.cpp
rename to localization/autoware_ekf_localizer/test/test_warning_message.cpp
index 2fffecf63fa1b..791e86c050352 100644
--- a/localization/ekf_localizer/test/test_warning_message.cpp
+++ b/localization/autoware_ekf_localizer/test/test_warning_message.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ekf_localizer/warning_message.hpp"
+#include "autoware/ekf_localizer/warning_message.hpp"
 
 #include <rclcpp/rclcpp.hpp>