diff --git a/aip_xx1_gen2_description/CMakeLists.txt b/aip_xx1_gen2_description/CMakeLists.txt
index 50723262..549de0f8 100644
--- a/aip_xx1_gen2_description/CMakeLists.txt
+++ b/aip_xx1_gen2_description/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(aip_xx1_description)
+project(aip_xx1_gen2_description)
 
 find_package(ament_cmake_auto REQUIRED)
 
diff --git a/aip_xx1_gen2_description/package.xml b/aip_xx1_gen2_description/package.xml
index b35b48e0..9b010d72 100644
--- a/aip_xx1_gen2_description/package.xml
+++ b/aip_xx1_gen2_description/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>aip_xx1_description</name>
+  <name>aip_xx1_gen2_description</name>
   <version>0.1.0</version>
-  <description>The aip_xx1_description package</description>
+  <description>The aip_xx1_gen2_description package</description>
 
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache 2</license>
diff --git a/aip_xx1_gen2_description/urdf/sensor_kit.xacro b/aip_xx1_gen2_description/urdf/sensor_kit.xacro
index 8830a4d3..137b3589 100644
--- a/aip_xx1_gen2_description/urdf/sensor_kit.xacro
+++ b/aip_xx1_gen2_description/urdf/sensor_kit.xacro
@@ -9,7 +9,7 @@
 
     <!-- <xacro:property name="pi" value="3.1415926835897931"/> -->
     <xacro:arg name="gpu" default="false"/>
-    <xacro:arg name="config_dir" default="$(find aip_xx1_description)/config"/>
+    <xacro:arg name="config_dir" default="$(find aip_xx1_gen2_description)/config"/>
 
     <xacro:property name="sensor_kit_base_link" default="sensor_kit_base_link"/>
 
diff --git a/aip_xx1_gen2_description/urdf/sensors.xacro b/aip_xx1_gen2_description/urdf/sensors.xacro
index 64dbf6bb..81faabe8 100644
--- a/aip_xx1_gen2_description/urdf/sensors.xacro
+++ b/aip_xx1_gen2_description/urdf/sensors.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot name="vehicle" xmlns:xacro="http://ros.org/wiki/xacro">
 
-  <xacro:arg name="config_dir" default="$(find aip_xx1_description)/config"/>
+  <xacro:arg name="config_dir" default="$(find aip_xx1_gen2_description)/config"/>
   <xacro:property name="calibration" value="${xacro.load_yaml('$(arg config_dir)/sensors_calibration.yaml')}"/>
 
   <!-- sensor kit -->
diff --git a/aip_xx1_gen2_launch/CMakeLists.txt b/aip_xx1_gen2_launch/CMakeLists.txt
index babf05d8..7f8d9f60 100644
--- a/aip_xx1_gen2_launch/CMakeLists.txt
+++ b/aip_xx1_gen2_launch/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(aip_xx1_launch)
+project(aip_xx1_gen2_launch)
 
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
diff --git a/aip_xx1_gen2_launch/launch/imu.launch.xml b/aip_xx1_gen2_launch/launch/imu.launch.xml
index 29795ae1..04011706 100644
--- a/aip_xx1_gen2_launch/launch/imu.launch.xml
+++ b/aip_xx1_gen2_launch/launch/imu.launch.xml
@@ -44,7 +44,7 @@
     </include>
 
     <!-- Gyro Bias Estimator-->
-    <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share aip_xx1_launch)/config/gyro_bias_estimator.param.yaml"/>
+    <arg name="gyro_bias_estimator_param_file" default="$(find-pkg-share aip_xx1_gen2_launch)/config/gyro_bias_estimator.param.yaml"/>
     <include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
       <arg name="input_imu_raw" value="$(var imu_raw_name)"/>
       <arg name="input_odom" value="/localization/kinematic_state"/>
diff --git a/aip_xx1_gen2_launch/launch/lidar.launch.py b/aip_xx1_gen2_launch/launch/lidar.launch.py
index 594d2eb4..7174fc9f 100644
--- a/aip_xx1_gen2_launch/launch/lidar.launch.py
+++ b/aip_xx1_gen2_launch/launch/lidar.launch.py
@@ -126,7 +126,7 @@ def load_yaml(yaml_file_path):
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
                 os.path.join(
-                    get_package_share_directory("aip_xx1_launch"),
+                    get_package_share_directory("aip_xx1_gen2_launch"),
                     "launch",
                     "pointcloud_preprocessor.launch.py",
                 )
@@ -159,7 +159,7 @@ def generate_launch_description():
     config_file_arg = DeclareLaunchArgument(
         "config_file",
         default_value=os.path.join(
-            get_package_share_directory("aip_xx1_launch"), "config", "lidar_launch.yaml"
+            get_package_share_directory("aip_xx1_gen2_launch"), "config", "lidar_launch.yaml"
         ),
         description="Path to the configuration file",
     )
diff --git a/aip_xx1_gen2_launch/launch/lidar.launch.xml b/aip_xx1_gen2_launch/launch/lidar.launch.xml
index b524b788..4f4b37b7 100644
--- a/aip_xx1_gen2_launch/launch/lidar.launch.xml
+++ b/aip_xx1_gen2_launch/launch/lidar.launch.xml
@@ -114,7 +114,7 @@
       </include>
     </group>
 
-    <include file="$(find-pkg-share aip_xx1_launch)/launch/pointcloud_preprocessor.launch.py">
+    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/pointcloud_preprocessor.launch.py">
       <arg name="base_frame" value="base_link"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
diff --git a/aip_xx1_gen2_launch/launch/radar.launch.xml b/aip_xx1_gen2_launch/launch/radar.launch.xml
index 41ac94b3..7eb4dbcb 100644
--- a/aip_xx1_gen2_launch/launch/radar.launch.xml
+++ b/aip_xx1_gen2_launch/launch/radar.launch.xml
@@ -226,7 +226,7 @@
     </group>
 
     <!-- merge radar objects -->
-    <let name="merger_param_path" value="$(find-pkg-share aip_xx1_launch)/config/radar_simple_object_merger.param.yaml"/>
+    <let name="merger_param_path" value="$(find-pkg-share aip_xx1_gen2_launch)/config/radar_simple_object_merger.param.yaml"/>
     <node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
       <remap from="~/output/objects" to="detected_objects"/>
       <param from="$(var merger_param_path)"/>
diff --git a/aip_xx1_gen2_launch/launch/sensing.launch.xml b/aip_xx1_gen2_launch/launch/sensing.launch.xml
index 8213cba8..74f24c15 100644
--- a/aip_xx1_gen2_launch/launch/sensing.launch.xml
+++ b/aip_xx1_gen2_launch/launch/sensing.launch.xml
@@ -9,29 +9,29 @@
   <group>
 
     <!-- LiDAR Driver -->
-    <include file="$(find-pkg-share aip_xx1_launch)/launch/lidar.launch.py">
+    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/lidar.launch.py">
       <arg name="launch_driver" value="$(var launch_driver)" />
       <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
 
     <!-- Camera Driver -->
-    <!-- <include file="$(find-pkg-share aip_xx1_launch)/launch/camera.launch.xml">
+    <!-- <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/camera.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
     </include> -->
 
     <!-- IMU Driver -->
-    <include file="$(find-pkg-share aip_xx1_launch)/launch/imu.launch.xml">
+    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/imu.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
     </include>
 
     <!-- GNSS Driver -->
-    <include file="$(find-pkg-share aip_xx1_launch)/launch/gnss.launch.xml">
+    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/gnss.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
     </include>
 
     <!-- Radar Driver -->
-    <include file="$(find-pkg-share aip_xx1_launch)/launch/radar.launch.xml">
+    <include file="$(find-pkg-share aip_xx1_gen2_launch)/launch/radar.launch.xml">
       <arg name="launch_driver" value="$(var launch_driver)" />
     </include>
 
diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml
index 93246e4b..8f2f9df9 100644
--- a/aip_xx1_gen2_launch/package.xml
+++ b/aip_xx1_gen2_launch/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>aip_xx1_launch</name>
+  <name>aip_xx1_gen2_launch</name>
   <version>0.1.0</version>
-  <description>The aip_xx1_launch package</description>
+  <description>The aip_xx1_gen2_launch package</description>
 
   <maintainer email="hiroki.ota@tier4.jp">Hiroki OTA</maintainer>
   <license>Apache License 2.0</license>