diff --git a/localization/yabloc/particle_filter/camera_particle_corrector/CMakeLists.txt b/localization/yabloc/particle_filter/camera_particle_corrector/CMakeLists.txt
deleted file mode 100644
index f79ffd6f09692..0000000000000
--- a/localization/yabloc/particle_filter/camera_particle_corrector/CMakeLists.txt
+++ /dev/null
@@ -1,45 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(camera_particle_corrector)
-
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
-  set(CMAKE_CXX_EXTENSIONS OFF)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  # add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# ===================================================
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
-
-# ===================================================
-# Eigen3
-find_package(Eigen3 REQUIRED)
-
-# Sophus
-find_package(Sophus REQUIRED)
-
-# PCL
-find_package(PCL REQUIRED COMPONENTS common)
-
-# glog
-find_package(glog REQUIRED)
-
-# ===================================================
-# Executable
-set(TARGET camera_particle_corrector_node)
-ament_auto_add_executable(${TARGET}
-  src/camera_particle_corrector_node.cpp
-  src/filt_lsd.cpp
-  src/logit.cpp
-  src/camera_particle_corrector_core.cpp)
-target_include_directories(${TARGET} PUBLIC include)
-target_include_directories(${TARGET} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
-target_link_libraries(${TARGET} Sophus::Sophus ${PCL_LIBRARIES} glog::glog)
-
-# ===================================================
-ament_auto_package(INSTALL_TO_SHARE config)
\ No newline at end of file
diff --git a/localization/yabloc/particle_filter/camera_particle_corrector/package.xml b/localization/yabloc/particle_filter/camera_particle_corrector/package.xml
deleted file mode 100644
index 2fd997590e6ea..0000000000000
--- a/localization/yabloc/particle_filter/camera_particle_corrector/package.xml
+++ /dev/null
@@ -1,29 +0,0 @@
-<?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>camera_particle_corrector</name>
-  <version>0.1.0</version>
-  <description>The camera particle filter corrector package</description>
-  <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake_ros</buildtool_depend>
-
-  <depend>rclcpp</depend>
-  <depend>tf2</depend>
-  <depend>std_msgs</depend>
-  <depend>std_srvs</depend>
-  <depend>geometry_msgs</depend>
-  <depend>sensor_msgs</depend>
-  <depend>visualization_msgs</depend>
-  <depend>ll2_cost_map</depend>
-
-  <depend>modularized_particle_filter</depend>
-  <depend>yabloc_common</depend>
-  <depend>libgoogle-glog-dev</depend>
-
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
\ No newline at end of file
diff --git a/localization/yabloc/particle_filter/gnss_particle_corrector/CMakeLists.txt b/localization/yabloc/particle_filter/gnss_particle_corrector/CMakeLists.txt
deleted file mode 100644
index f461f50054cf9..0000000000000
--- a/localization/yabloc/particle_filter/gnss_particle_corrector/CMakeLists.txt
+++ /dev/null
@@ -1,43 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(gnss_particle_corrector)
-
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
-  set(CMAKE_CXX_EXTENSIONS OFF)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-endif()
-
-# ===================================================
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
-
-# ===================================================
-# Eigen3
-find_package(Eigen3 REQUIRED)
-
-# Sophus
-find_package(Sophus REQUIRED)
-
-# ===================================================
-# GeographicLib
-find_package(PkgConfig)
-find_path(GeographicLib_INCLUDE_DIR GeographicLib/Config.h
-  PATH_SUFFIXES GeographicLib
-)
-set(GeographicLib_INCLUDE_DIRS ${GeographicLib_INCLUDE_DIR})
-find_library(GeographicLib_LIBRARIES NAMES Geographic)
-
-# ===================================================
-# Executable
-set(TARGET gnss_particle_corrector_node)
-ament_auto_add_executable(${TARGET} src/gnss_corrector_node.cpp src/gnss_corrector_core.cpp)
-target_include_directories(${TARGET} PUBLIC include)
-target_include_directories(${TARGET} PUBLIC SYSTEM ${GeographicLib_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS})
-target_link_libraries(${TARGET} Sophus::Sophus)
-
-# ===================================================
-ament_auto_package(INSTALL_TO_SHARE config)
\ No newline at end of file
diff --git a/localization/yabloc/particle_filter/gnss_particle_corrector/package.xml b/localization/yabloc/particle_filter/gnss_particle_corrector/package.xml
deleted file mode 100644
index 033c78a2059ab..0000000000000
--- a/localization/yabloc/particle_filter/gnss_particle_corrector/package.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<?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>gnss_particle_corrector</name>
-  <version>0.1.0</version>
-  <description>The GNSS particle filter corrector package</description>
-  <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake_ros</buildtool_depend>
-
-  <depend>rclcpp</depend>
-  <depend>tf2</depend>
-  <depend>std_msgs</depend>
-  <depend>geometry_msgs</depend>
-  <depend>sensor_msgs</depend>
-  <depend>visualization_msgs</depend>
-  <depend>geographiclib</depend>
-
-  <depend>modularized_particle_filter</depend>
-  <depend>yabloc_common</depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
\ No newline at end of file
diff --git a/localization/yabloc/particle_filter/ll2_cost_map/CMakeLists.txt b/localization/yabloc/particle_filter/ll2_cost_map/CMakeLists.txt
deleted file mode 100644
index 463ca21374a9f..0000000000000
--- a/localization/yabloc/particle_filter/ll2_cost_map/CMakeLists.txt
+++ /dev/null
@@ -1,38 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(ll2_cost_map)
-
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
-  set(CMAKE_CXX_EXTENSIONS OFF)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  # add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# ===================================================
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
-
-# ===================================================
-# Eigen3
-find_package(Eigen3 REQUIRED)
-
-# PCL
-find_package(PCL REQUIRED COMPONENTS common)
-
-# ===================================================
-# Library
-ament_auto_add_library(${PROJECT_NAME}
-  SHARED
-  src/hierarchical_cost_map.cpp
-  src/direct_cost_map.cpp
-)
-target_include_directories(${PROJECT_NAME} PUBLIC include)
-target_include_directories(${PROJECT_NAME} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
-target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES})
-
-# ===================================================
-ament_auto_package()
diff --git a/localization/yabloc/particle_filter/ll2_cost_map/package.xml b/localization/yabloc/particle_filter/ll2_cost_map/package.xml
deleted file mode 100644
index bf1b51207fed9..0000000000000
--- a/localization/yabloc/particle_filter/ll2_cost_map/package.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<?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>ll2_cost_map</name>
-  <version>0.1.0</version>
-  <description>The package converts cost map from lanelet2</description>
-  <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake_ros</buildtool_depend>
-
-  <depend>rclcpp</depend>
-  <depend>tf2</depend>
-  <depend>std_msgs</depend>
-  <depend>std_srvs</depend>
-  <depend>geometry_msgs</depend>
-  <depend>sensor_msgs</depend>
-  <depend>visualization_msgs</depend>
-
-  <depend>ground_msgs</depend>
-  <depend>ll2_decomposer</depend>
-  <depend>yabloc_common</depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
-
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/CMakeLists.txt b/localization/yabloc/particle_filter/modularized_particle_filter/CMakeLists.txt
deleted file mode 100644
index d681c2d3c84ed..0000000000000
--- a/localization/yabloc/particle_filter/modularized_particle_filter/CMakeLists.txt
+++ /dev/null
@@ -1,67 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(modularized_particle_filter)
-
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-endif()
-
-find_package(ament_cmake_auto REQUIRED)
-
-# PCL
-find_package(PCL REQUIRED)
-
-# Sophus
-find_package(Sophus REQUIRED)
-
-ament_auto_find_build_dependencies()
-
-# ===================================================
-# Libraries
-ament_auto_add_library(
-  abst_corrector
-  SHARED
-  src/correction/abst_corrector.cpp
-  src/common/visualize.cpp
-  src/common/mean.cpp
-)
-target_include_directories(abst_corrector SYSTEM PRIVATE ${PCL_INCLUDE_DIRS})
-target_link_libraries(abst_corrector Sophus::Sophus ${PCL_LIBRARIES})
-
-ament_auto_add_library(predictor
-  src/prediction/predictor.cpp
-  src/prediction/resampler.cpp
-  src/common/visualize.cpp
-  src/common/mean.cpp
-)
-target_include_directories(predictor SYSTEM PRIVATE ${PCL_INCLUDE_DIRS})
-target_link_libraries(predictor Sophus::Sophus ${PCL_LIBRARIES})
-
-# ===================================================
-# Executables
-ament_auto_add_executable(predictor_node
-  src/prediction/predictor_node.cpp
-)
-target_link_libraries(predictor_node predictor)
-
-ament_auto_add_executable(particle_visualize
-  src/common/particle_visualize_node.cpp
-)
-
-# ===================================================
-# TEST
-if(BUILD_TESTING)
-  add_subdirectory(test)
-endif()
-
-# ===================================================
-install(PROGRAMS
-  script/particle_array_to_marker_array.py
-  script/particle_array_to_pose_array.py
-  DESTINATION lib/${PROJECT_NAME}
-)
-
-ament_auto_package(INSTALL_TO_SHARE launch config)
\ No newline at end of file
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/launch/run.launch.xml b/localization/yabloc/particle_filter/modularized_particle_filter/launch/run.launch.xml
deleted file mode 100644
index 741b7c67a3dac..0000000000000
--- a/localization/yabloc/particle_filter/modularized_particle_filter/launch/run.launch.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<launch>
-    <!-- ========================================= -->
-    <arg name="use_sim_time" default="true"/>
-    <arg name="log_level" default="warn"/>
-
-    <!-- ========================================= -->
-    <node pkg="modularized_particle_filter" exec="predictor" name="predictor" output="screen" args="--ros-args --log-level warn">
-        <remap from="twist" to="/kalman/twist" />
-        <remap from="initialpose" to="/initialpose" />
-        <remap from="pose" to="/init/pose"/> 
-
-        <param name="use_sim_time" value="$(var use_sim_time)"/>
-        <param name="num_of_particles" value="500" />
-        <param name="resampling_interval_seconds" value="1.5" />
-        <param name="prediction_rate" value="50.0" />
-
-        <param name="static_linear_covariance" value="0.09" />
-        <param name="static_angular_covariance" value="0.01" />
-    </node>
-</launch>
\ No newline at end of file
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/script/particle_array_to_marker_array.py b/localization/yabloc/particle_filter/modularized_particle_filter/script/particle_array_to_marker_array.py
deleted file mode 100755
index bdaa09ee70c5e..0000000000000
--- a/localization/yabloc/particle_filter/modularized_particle_filter/script/particle_array_to_marker_array.py
+++ /dev/null
@@ -1,81 +0,0 @@
-#!/usr/bin/env python3
-
-import copy
-import numpy
-
-import rclpy
-from rclpy.node import Node
-
-import modularized_particle_filter_msgs.msg
-import visualization_msgs.msg
-
-
-class ParticleArrayToMarkerArray(Node):
-    def __init__(self):
-        super().__init__('particle_array_to_marker_array')
-        self.__marker_array = None
-        self._publisher = self.create_publisher(
-            visualization_msgs.msg.MarkerArray,
-            "pub/marker_array", 10)
-        self._subscription = self.create_subscription(
-            modularized_particle_filter_msgs.msg.ParticleArray,
-            "sub/particle_array",
-            self.on_particle_array, 10)
-
-    def on_particle_array(self, msg):
-        if self.__marker_array is None or len(self.__marker_array.markers) != len(msg.particles):
-            self.__marker_array = visualization_msgs.msg.MarkerArray()
-            for i in range(len(msg.particles)):
-                marker = visualization_msgs.msg.Marker()
-                marker.header.frame_id = "map"
-                marker.frame_locked = True
-                marker.scale.x = 0.30  # arrow length
-                marker.scale.y = 0.10  # arrow width
-                marker.scale.z = 0.10  # arrow height
-                marker.color.r = 1.0
-                marker.color.g = 0.1
-                marker.color.b = 0.0
-                marker.color.a = 1.0
-                marker.id = i
-                marker.type = visualization_msgs.msg.Marker.ARROW
-                self.__marker_array.markers.append(marker)
-
-        max_weight = max(map(lambda particle: particle.weight, msg.particles))
-        max_weight = max(0.1, max_weight)
-
-        for i, particle in enumerate(msg.particles):
-            self.__marker_array.markers[i].pose = copy.deepcopy(particle.pose)
-            self.__marker_array.markers[i].color.r, \
-                self.__marker_array.markers[i].color.g, \
-                self.__marker_array.markers[i].color.b = ParticleArrayToMarkerArray.calculate_weight_color(
-                particle.weight / max_weight)
-
-        self._publisher.publish(self.__marker_array)
-
-    @staticmethod
-    def sigmoid(x, gain=1, offset_x=0):
-        return ((numpy.tanh(((x+offset_x)*gain)/2)+1)/2)
-
-    @staticmethod
-    def calculate_weight_color(x, gain=10, offset_x=0.2, offset_green=0.6):
-        x = (x * 2) - 1
-        red = ParticleArrayToMarkerArray.sigmoid(x, gain, -1*offset_x)
-        blue = 1-ParticleArrayToMarkerArray.sigmoid(x, gain, offset_x)
-        green = ParticleArrayToMarkerArray.sigmoid(x, gain, offset_green) + \
-            (1-ParticleArrayToMarkerArray.sigmoid(x, gain, -1*offset_green)) - 1.0
-        return red, green, blue
-
-
-def main(args=None):
-    rclpy.init(args=args)
-
-    node = ParticleArrayToMarkerArray()
-
-    rclpy.spin(node)
-
-    node.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/script/particle_array_to_pose_array.py b/localization/yabloc/particle_filter/modularized_particle_filter/script/particle_array_to_pose_array.py
deleted file mode 100755
index eda09a0643a44..0000000000000
--- a/localization/yabloc/particle_filter/modularized_particle_filter/script/particle_array_to_pose_array.py
+++ /dev/null
@@ -1,50 +0,0 @@
-#!/usr/bin/env python3
-
-import copy
-import numpy
-
-import rclpy
-from rclpy.node import Node
-
-import modularized_particle_filter_msgs.msg
-import geometry_msgs.msg
-
-
-class ParticleArrayToPoseArray(Node):
-    def __init__(self):
-        super().__init__('particle_array_to_pose_array')
-
-        self._publisher = self.create_publisher(
-            geometry_msgs.msg.PoseArray, "pub/pose_array", 10)
-
-        self._subscription = self.create_subscription(
-            modularized_particle_filter_msgs.msg.ParticleArray, "sub/particle_array", self.on_particle_array, 10)
-
-        self.__pose_array = None
-
-    def on_particle_array(self, msg):
-        if self.__pose_array is None or len(self.__pose_array.poses) != len(msg.particles):
-            self.__pose_array = geometry_msgs.msg.PoseArray()
-            for i in range(len(msg.particles)):
-                self.__pose_array.poses.append(geometry_msgs.msg.Pose())
-
-        self.__pose_array.header = msg.header;
-        for i, particle in enumerate(msg.particles):
-            self.__pose_array.poses[i] = copy.deepcopy(particle.pose)
-
-        self._publisher.publish(self.__pose_array)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-
-    node = ParticleArrayToPoseArray()
-
-    rclpy.spin(node)
-
-    node.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter_msgs/CMakeLists.txt b/localization/yabloc/particle_filter/modularized_particle_filter_msgs/CMakeLists.txt
deleted file mode 100644
index 5b8c1822905a3..0000000000000
--- a/localization/yabloc/particle_filter/modularized_particle_filter_msgs/CMakeLists.txt
+++ /dev/null
@@ -1,24 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(modularized_particle_filter_msgs)
-
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
-
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/Particle.msg"
-  "msg/ParticleArray.msg"
-  DEPENDENCIES
-    std_msgs
-    geometry_msgs
-    sensor_msgs
-)
-
-ament_package()
\ No newline at end of file
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter_msgs/package.xml b/localization/yabloc/particle_filter/modularized_particle_filter_msgs/package.xml
deleted file mode 100644
index ce8c8d19ec880..0000000000000
--- a/localization/yabloc/particle_filter/modularized_particle_filter_msgs/package.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<?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>modularized_particle_filter_msgs</name>
-  <version>0.1.0</version>
-  <description>The modularized_particle_filter_msgs package</description>
-  <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake_ros</buildtool_depend>
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
-
-  <depend>std_msgs</depend>
-  <depend>geometry_msgs</depend>
-  <depend>sensor_msgs</depend>
-
-  <exec_depend>rosidl_default_runtime</exec_depend>
-  <member_of_group>rosidl_interface_packages</member_of_group>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/localization/yabloc/yabloc_launch/launch/impl/pf.launch.xml b/localization/yabloc/yabloc_launch/launch/impl/pf.launch.xml
index ffc46ae807278..5fa79159b3bc8 100644
--- a/localization/yabloc/yabloc_launch/launch/impl/pf.launch.xml
+++ b/localization/yabloc/yabloc_launch/launch/impl/pf.launch.xml
@@ -5,7 +5,7 @@
     <arg name="twist_cov_for_prediction" default="/localization/twist_estimator/twist_with_covariance"/>
     <let name="inout_weighted_particles" value="weighted_particles"/>
     <let name="output_particles_marker_array" value="predicted_particles_marker"/>
-    <node pkg="modularized_particle_filter" exec="predictor_node" name="predictor_node" output="screen" args="--ros-args --log-level info">
+    <node pkg="yabloc_particle_filter" exec="predictor_node" name="predictor_node" output="screen" args="--ros-args --log-level info">
         <param name="use_sim_time" value="$(var use_sim_time)"/>
         <param from="$(var predictor_param_path)"/>
 
@@ -23,7 +23,7 @@
     <arg name="input_ll2_bounding_box" default="/localization/yabloc/map/ll2_bounding_box"/>
     <arg name="output_scored_cloud" default="scored_cloud"/>
     <arg name="output_cost_map_range" default="cost_map_range"/>
-    <node name="camera_corrector" pkg="camera_particle_corrector" exec="camera_particle_corrector_node" output="screen" args="--ros-args --log-level warn">
+    <node pkg="yabloc_particle_filter" exec="camera_particle_corrector_node" name="camera_corrector" output="screen" args="--ros-args --log-level warn">
         <param name="use_sim_time" value="$(var use_sim_time)"/>
         <param from="$(var camera_particle_corrector_param_path)"/>
 
@@ -37,7 +37,7 @@
     </node>
 
     <!-- gnss correction -->
-    <node name="gnss_corrector" pkg="gnss_particle_corrector" exec="gnss_particle_corrector_node" output="screen" args="--ros-args --log-level warn">
+    <node pkg="yabloc_particle_filter" exec="gnss_particle_corrector_node" name="gnss_corrector" output="screen" args="--ros-args --log-level warn">
         <param name="use_sim_time" value="$(var use_sim_time)"/>
         <param from="$(var gnss_particle_corrector_param_path)"/>
 
diff --git a/localization/yabloc/yabloc_launch/launch/yabloc.launch.xml b/localization/yabloc/yabloc_launch/launch/yabloc.launch.xml
index 9e1b9bd680c3d..2727fe2672514 100644
--- a/localization/yabloc/yabloc_launch/launch/yabloc.launch.xml
+++ b/localization/yabloc/yabloc_launch/launch/yabloc.launch.xml
@@ -19,9 +19,9 @@
     <!-- initializer -->
     <arg name="camera_pose_initializer_param_path" default="$(find-pkg-share yabloc_pose_initializer)/config/camera_pose_initializer.param.yaml"/>
     <!-- particle filter-->
-    <arg name="camera_particle_corrector_param_path" default="$(find-pkg-share camera_particle_corrector)/config/camera_particle_corrector.param.yaml"/>
-    <arg name="gnss_particle_corrector_param_path" default="$(find-pkg-share gnss_particle_corrector)/config/gnss_particle_corrector.param.yaml"/>
-    <arg name="predictor_param_path" default="$(find-pkg-share modularized_particle_filter)/config/predictor.param.yaml"/>
+    <arg name="camera_particle_corrector_param_path" default="$(find-pkg-share yabloc_particle_filter)/config/camera_particle_corrector.param.yaml"/>
+    <arg name="gnss_particle_corrector_param_path" default="$(find-pkg-share yabloc_particle_filter)/config/gnss_particle_corrector.param.yaml"/>
+    <arg name="predictor_param_path" default="$(find-pkg-share yabloc_particle_filter)/config/predictor.param.yaml"/>
     <!-- image processing -->
     <arg name="graph_segment_param_path" default="$(find-pkg-share yabloc_imgproc)/config/graph_segment.param.yaml"/>
     <arg name="segment_filter_param_path" default="$(find-pkg-share yabloc_imgproc)/config/segment_filter.param.yaml"/>
diff --git a/localization/yabloc/yabloc_launch/launch/yabloc_multi_camera.launch.xml b/localization/yabloc/yabloc_launch/launch/yabloc_multi_camera.launch.xml
index 6e1d77720dbb0..49bea50929ccc 100644
--- a/localization/yabloc/yabloc_launch/launch/yabloc_multi_camera.launch.xml
+++ b/localization/yabloc/yabloc_launch/launch/yabloc_multi_camera.launch.xml
@@ -25,11 +25,11 @@
 
     <!-- default parameter path -->
     <!-- initializer -->
-    <arg name="camera_pose_initializer_param_path" default="$(find-pkg-share camera_pose_initializer)/config/camera_pose_initializer.param.yaml"/>
+    <arg name="camera_pose_initializer_param_path" default="$(find-pkg-share yabloc_pose_initializer)/config/camera_pose_initializer.param.yaml"/>
     <!-- particle filter-->
-    <arg name="camera_particle_corrector_param_path" default="$(find-pkg-share camera_particle_corrector)/config/camera_particle_corrector.param.yaml"/>
-    <arg name="gnss_particle_corrector_param_path" default="$(find-pkg-share gnss_particle_corrector)/config/gnss_particle_corrector.param.yaml"/>
-    <arg name="predictor_param_path" default="$(find-pkg-share modularized_particle_filter)/config/predictor.param.yaml"/>
+    <arg name="camera_particle_corrector_param_path" default="$(find-pkg-share yabloc_particle_filter)/config/camera_particle_corrector.param.yaml"/>
+    <arg name="gnss_particle_corrector_param_path" default="$(find-pkg-share yabloc_particle_filter)/config/gnss_particle_corrector.param.yaml"/>
+    <arg name="predictor_param_path" default="$(find-pkg-share yabloc_particle_filter)/config/predictor.param.yaml"/>
     <!-- image processing -->
     <arg name="graph_segment_param_path" default="$(find-pkg-share yabloc_imgproc)/config/graph_segment.param.yaml"/>
     <arg name="segment_filter_param_path" default="$(find-pkg-share yabloc_imgproc)/config/segment_filter.param.yaml"/>
diff --git a/localization/yabloc/yabloc_launch/package.xml b/localization/yabloc/yabloc_launch/package.xml
index a3dfae7a7e62c..fd24e4396699c 100644
--- a/localization/yabloc/yabloc_launch/package.xml
+++ b/localization/yabloc/yabloc_launch/package.xml
@@ -12,17 +12,15 @@
   <depend>rclpy</depend>
   <depend>autoware_auto_control_msgs</depend>
 
-  <depend>yabloc_initializer</depend>
+  <depend>yabloc_pose_initializer</depend>
   <depend>yabloc_imgproc</depend>
+  <depend>yabloc_particle_filter</depend>
   <!--map-->
   <depend>ground_server</depend>
   <depend>ll2_decomposer</depend>
   <!--twist-->
   <depend>twist_converter</depend>
   <depend>twist_estimator</depend>
-  <!--particle filter-->
-  <depend>camera_particle_corrector</depend>
-  <depend>gnss_particle_corrector</depend>
   <!--rviz plugin-->
   <depend>rviz2_initialpose_plugins</depend>
   <depend>rviz2_overlay_plugins</depend>
diff --git a/localization/yabloc/yabloc_particle_filter/CMakeLists.txt b/localization/yabloc/yabloc_particle_filter/CMakeLists.txt
new file mode 100644
index 0000000000000..d3891a2140791
--- /dev/null
+++ b/localization/yabloc/yabloc_particle_filter/CMakeLists.txt
@@ -0,0 +1,118 @@
+cmake_minimum_required(VERSION 3.5)
+project(yabloc_particle_filter)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+
+# ===================================================
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+# ===================================================
+# PCL
+find_package(PCL REQUIRED)
+
+# Sophus
+find_package(Sophus REQUIRED)
+
+# glog
+find_package(glog REQUIRED)
+
+# GeographicLib
+find_package(PkgConfig)
+find_path(GeographicLib_INCLUDE_DIR GeographicLib/Config.h
+  PATH_SUFFIXES GeographicLib
+)
+set(GeographicLib_INCLUDE_DIRS ${GeographicLib_INCLUDE_DIR})
+find_library(GeographicLib_LIBRARIES NAMES Geographic)
+
+# ===================================================
+# Message & Service
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Particle.msg"
+  "msg/ParticleArray.msg"
+  DEPENDENCIES
+  std_msgs
+  geometry_msgs
+)
+
+# ===================================================
+# Libraries
+# correction library
+ament_auto_add_library(
+  abst_corrector
+  SHARED
+  src/correction/abst_corrector.cpp
+  src/common/visualize.cpp
+  src/common/mean.cpp
+)
+target_include_directories(abst_corrector SYSTEM PRIVATE ${PCL_INCLUDE_DIRS})
+target_link_libraries(abst_corrector Sophus::Sophus ${PCL_LIBRARIES})
+rosidl_target_interfaces(abst_corrector ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+# Prediction library
+ament_auto_add_library(predictor
+  src/prediction/predictor.cpp
+  src/prediction/resampler.cpp
+  src/common/visualize.cpp
+  src/common/mean.cpp
+)
+target_include_directories(predictor SYSTEM PRIVATE ${PCL_INCLUDE_DIRS})
+target_link_libraries(predictor Sophus::Sophus ${PCL_LIBRARIES})
+rosidl_target_interfaces(predictor ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+# Cost map Library
+ament_auto_add_library(ll2_cost_map
+  SHARED
+  src/ll2_cost_map/hierarchical_cost_map.cpp
+  src/ll2_cost_map/direct_cost_map.cpp
+)
+target_include_directories(ll2_cost_map PUBLIC include)
+target_include_directories(ll2_cost_map SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
+target_link_libraries(ll2_cost_map ${PCL_LIBRARIES})
+
+# ===================================================
+# Executables
+# Predictor
+ament_auto_add_executable(predictor_node
+  src/prediction/predictor_node.cpp
+)
+target_link_libraries(predictor_node predictor)
+
+# Visualizer
+ament_auto_add_executable(particle_visualize
+  src/common/particle_visualize_node.cpp
+)
+
+# GNSS corrector
+set(TARGET gnss_particle_corrector_node)
+ament_auto_add_executable(${TARGET}
+  src/gnss_corrector/gnss_corrector_node.cpp
+  src/gnss_corrector/gnss_corrector_core.cpp)
+target_include_directories(${TARGET} PUBLIC include)
+target_include_directories(${TARGET} PUBLIC SYSTEM ${GeographicLib_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS})
+target_link_libraries(${TARGET} Sophus::Sophus)
+
+# Camera corrector
+set(TARGET camera_particle_corrector_node)
+ament_auto_add_executable(${TARGET}
+  src/camera_corrector/camera_particle_corrector_node.cpp
+  src/camera_corrector/filt_lsd.cpp
+  src/camera_corrector/logit.cpp
+  src/camera_corrector/camera_particle_corrector_core.cpp)
+target_include_directories(${TARGET} PUBLIC include)
+target_include_directories(${TARGET} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
+target_link_libraries(${TARGET} Sophus::Sophus ${PCL_LIBRARIES} glog::glog)
+
+# ===================================================
+# TEST
+if(BUILD_TESTING)
+  add_subdirectory(test)
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE config)
\ No newline at end of file
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/README.md b/localization/yabloc/yabloc_particle_filter/README.md
similarity index 68%
rename from localization/yabloc/particle_filter/modularized_particle_filter/README.md
rename to localization/yabloc/yabloc_particle_filter/README.md
index a14ba0b131efb..7fe0f925c7c63 100644
--- a/localization/yabloc/particle_filter/modularized_particle_filter/README.md
+++ b/localization/yabloc/yabloc_particle_filter/README.md
@@ -1,4 +1,4 @@
-# Modularized Particle Filter
+# YabLoc Particle Filter
 
 ## Purpose
 
@@ -9,11 +9,12 @@
 ## How to test
 
 ```shell
-colcon test --event-handlers console_cohesion+  --packages-select modularized_particle_filter
+colcon test --event-handlers console_cohesion+  --packages-select yabloc_particle_filter
 colcon test-result --verbose --all
 ```
 
-## Predictor
+
+## Predictor node
 
 ### Input
 
@@ -22,14 +23,14 @@ colcon test-result --verbose --all
 | `/initialpose`        | `geometry_msgs::msg::PoseWithCovarianceStamped`        | to specity the initial position of particles              |
 | `/twist`              | `geometry_msgs::msg::TwistStamped`                     | linear velocity and angular velocity of prediction update |
 | `/twist_cov`          | `geometry_msgs::msg::TwistWithCovarianceStamped`       | linear velocity and angular velocity of prediction update |
-| `/weighted_particles` | `modularized_particle_filter_msgs::msg::ParticleArray` | particles weighted  by corrector nodes                    |
+| `/weighted_particles` | `yabloc_particle_filter::msg::ParticleArray` | particles weighted  by corrector nodes                    |
 | `/height`             | `std_msgs::msg::Float32`                               | ground height                                             |
 
 ### Output
 
 | Name                          | Type                                                   | Description                           |
 |-------------------------------|--------------------------------------------------------|---------------------------------------|
-| `/predicted_particles`        | `modularized_particle_filter_msgs::msg::ParticleArray` | particles weighted by predictor nodes |
+| `/predicted_particles`        | `yabloc_particle_filter::msg::ParticleArray` | particles weighted by predictor nodes |
 | `/predicted_particles_marker` | `visualization_msgs::msg::MarkerArray`                 | markers for particle visualization    |
 | `/pose`                       | `geometry_msgs::msg::PoseStamped`                      | weighted mean of particles            |
 | `/pose_with_covariance`       | `geometry_msgs::msg::PoseWithCovarianceStamped`        | weighted mean of particles            |
@@ -46,22 +47,7 @@ colcon test-result --verbose --all
 | `static_angular_covariance`   | double | 0.01       | to override the covariance of `/twist`. When using `/twist_cov`, it has no effect |
 | `cov_xx_yy`   　　　　　　　　| list   | [2.0,0.25] | the covariance of initial pose                                                    |
 
-## Corrector
-
-### Input
-
-| Name                   | Type                                                   | Description                               |
-|------------------------|--------------------------------------------------------|-------------------------------------------|
-| `/predicted_particles` | `modularized_particle_filter_msgs::msg::ParticleArray` | particles predicted by the predictor node |
-
-### Output
-
-| Name                  | Type                                                   | Description                              |
-|-----------------------|--------------------------------------------------------|------------------------------------------|
-| `/weighted_particles` | `modularized_particle_filter_msgs::msg::ParticleArray` | particles weighted by the corrector node |
-
-### Parameters
 
-| Name         | Type | Default | Description                                                       |
-|--------------|------|---------|-------------------------------------------------------------------|
-| `/visualize` | bool | false   | whether particles are also published in visualization_msgs or not |
+## Other nodes
+- [camera_corrector](docs/camera_corrector.md)
+- [gnss_corrector](docs/gnss_corrector.md)
\ No newline at end of file
diff --git a/localization/yabloc/particle_filter/camera_particle_corrector/config/camera_particle_corrector.param.yaml b/localization/yabloc/yabloc_particle_filter/config/camera_particle_corrector.param.yaml
similarity index 100%
rename from localization/yabloc/particle_filter/camera_particle_corrector/config/camera_particle_corrector.param.yaml
rename to localization/yabloc/yabloc_particle_filter/config/camera_particle_corrector.param.yaml
diff --git a/localization/yabloc/particle_filter/gnss_particle_corrector/config/gnss_particle_corrector.param.yaml b/localization/yabloc/yabloc_particle_filter/config/gnss_particle_corrector.param.yaml
similarity index 100%
rename from localization/yabloc/particle_filter/gnss_particle_corrector/config/gnss_particle_corrector.param.yaml
rename to localization/yabloc/yabloc_particle_filter/config/gnss_particle_corrector.param.yaml
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/config/predictor.param.yaml b/localization/yabloc/yabloc_particle_filter/config/predictor.param.yaml
similarity index 100%
rename from localization/yabloc/particle_filter/modularized_particle_filter/config/predictor.param.yaml
rename to localization/yabloc/yabloc_particle_filter/config/predictor.param.yaml
diff --git a/localization/yabloc/particle_filter/camera_particle_corrector/README.md b/localization/yabloc/yabloc_particle_filter/docs/camera_corrector.md
similarity index 97%
rename from localization/yabloc/particle_filter/camera_particle_corrector/README.md
rename to localization/yabloc/yabloc_particle_filter/docs/camera_corrector.md
index a57a9f9a228f7..50a4b516105fe 100644
--- a/localization/yabloc/particle_filter/camera_particle_corrector/README.md
+++ b/localization/yabloc/yabloc_particle_filter/docs/camera_corrector.md
@@ -34,4 +34,4 @@
 | `max_range`       | float | 80      | width of heararchical cost map                                             |
 | `gamma`           | float | 40.0    | gamma value of the intensity gradient of the cost map                      |
 | `min_prob`        | float | 0.1     | minimum particle weight the corrector node gives                           |
-| `far_weight_gain` | float | 0.001   | `exp(-far_weight_gain_ * squared_distance_from_camera)` is reflected in the weight (If this is large, the nearby landmarks will be more important.)|
+| `far_weight_gain` | float | 0.001   | `exp(-far_weight_gain_ * squared_distance_from_camera)` is reflected in the weight (If this is large, the nearby landmarks will be more important.)|
\ No newline at end of file
diff --git a/localization/yabloc/particle_filter/gnss_particle_corrector/README.md b/localization/yabloc/yabloc_particle_filter/docs/gnss_corrector.md
similarity index 65%
rename from localization/yabloc/particle_filter/gnss_particle_corrector/README.md
rename to localization/yabloc/yabloc_particle_filter/docs/gnss_corrector.md
index 860edfa55c177..892df47fce65b 100644
--- a/localization/yabloc/particle_filter/gnss_particle_corrector/README.md
+++ b/localization/yabloc/yabloc_particle_filter/docs/gnss_corrector.md
@@ -1,3 +1,24 @@
+## GNSS Corrector
+
+### Input
+
+| Name                   | Type                                                   | Description                               |
+|------------------------|--------------------------------------------------------|-------------------------------------------|
+| `/predicted_particles` | `yabloc_particle_filter::msg::ParticleArray` | particles predicted by the predictor node |
+
+### Output
+
+| Name                  | Type                                                   | Description                              |
+|-----------------------|--------------------------------------------------------|------------------------------------------|
+| `/weighted_particles` | `yabloc_particle_filter::msg::ParticleArray` | particles weighted by the corrector node |
+
+### Parameters
+
+| Name         | Type | Default | Description                                                       |
+|--------------|------|---------|-------------------------------------------------------------------|
+| `/visualize` | bool | false   | whether particles are also published in visualization_msgs or not |
+
+
 # GNSS Particle Corrector
 
 ## Purpose
@@ -30,4 +51,4 @@
 | Name                              | Type  | Default | Description                                                                                           |
 |-----------------------------------|-------|---------|-------------------------------------------------------------------------------------------------------|
 | `/ignore_less_than_float`         | bool  | true    | if this is true, only FIX or FLOAT is used for correction (No effect when using pose_with_covariance) |
-| `/mahalanobis_distance_threshold` | float | 20.f    | if the Mahalanobis distance to the GNSS for particle exceeds this, the correction skips.              |
\ No newline at end of file
+| `/mahalanobis_distance_threshold` | float | 20.f    | if the Mahalanobis distance to the GNSS for particle exceeds this, the correction skips.              |
diff --git a/localization/yabloc/particle_filter/camera_particle_corrector/include/camera_particle_corrector/camera_particle_corrector.hpp b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/camera_corrector/camera_particle_corrector.hpp
similarity index 93%
rename from localization/yabloc/particle_filter/camera_particle_corrector/include/camera_particle_corrector/camera_particle_corrector.hpp
rename to localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/camera_corrector/camera_particle_corrector.hpp
index d77b21e184ec8..061db3bc589aa 100644
--- a/localization/yabloc/particle_filter/camera_particle_corrector/include/camera_particle_corrector/camera_particle_corrector.hpp
+++ b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/camera_corrector/camera_particle_corrector.hpp
@@ -14,10 +14,10 @@
 
 #pragma once
 
-#include <ll2_cost_map/hierarchical_cost_map.hpp>
-#include <modularized_particle_filter/correction/abst_corrector.hpp>
 #include <opencv4/opencv2/core.hpp>
 #include <std_srvs/srv/set_bool.hpp>
+#include <yabloc_particle_filter/correction/abst_corrector.hpp>
+#include <yabloc_particle_filter/ll2_cost_map/hierarchical_cost_map.hpp>
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <sensor_msgs/msg/image.hpp>
@@ -82,7 +82,8 @@ class CameraParticleCorrector : public modularized_particle_filter::AbstCorrecto
 
   std::pair<LineSegments, LineSegments> split_line_segments(const PointCloud2 & msg);
 
-  float compute_logit(const LineSegments & line_segments_cloud, const Eigen::Vector3f & self_position);
+  float compute_logit(
+    const LineSegments & line_segments_cloud, const Eigen::Vector3f & self_position);
 
   pcl::PointCloud<pcl::PointXYZI> evaluate_cloud(
     const LineSegments & line_segments_cloud, const Eigen::Vector3f & self_position);
diff --git a/localization/yabloc/particle_filter/camera_particle_corrector/include/camera_particle_corrector/fast_cos.hpp b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/camera_corrector/fast_cos.hpp
similarity index 100%
rename from localization/yabloc/particle_filter/camera_particle_corrector/include/camera_particle_corrector/fast_cos.hpp
rename to localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/camera_corrector/fast_cos.hpp
diff --git a/localization/yabloc/particle_filter/camera_particle_corrector/include/camera_particle_corrector/logit.hpp b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/camera_corrector/logit.hpp
similarity index 100%
rename from localization/yabloc/particle_filter/camera_particle_corrector/include/camera_particle_corrector/logit.hpp
rename to localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/camera_corrector/logit.hpp
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/common/mean.hpp b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/common/mean.hpp
similarity index 73%
rename from localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/common/mean.hpp
rename to localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/common/mean.hpp
index 3388ba72dfed6..e8c243b59c268 100644
--- a/localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/common/mean.hpp
+++ b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/common/mean.hpp
@@ -15,22 +15,22 @@
 #ifndef MODULARIZED_PARTICLE_FILTER__COMMON__MEAN_HPP_
 #define MODULARIZED_PARTICLE_FILTER__COMMON__MEAN_HPP_
 
-#include <eigen3/Eigen/StdVector>
+#include <Eigen/Core>
+#include <yabloc_particle_filter/msg/particle_array.hpp>
 
 #include <geometry_msgs/msg/pose.hpp>
-#include <modularized_particle_filter_msgs/msg/particle_array.hpp>
 
 namespace yabloc
 {
 namespace modularized_particle_filter
 {
 geometry_msgs::msg::Pose mean_pose(
-  const modularized_particle_filter_msgs::msg::ParticleArray & particle_array);
+  const yabloc_particle_filter::msg::ParticleArray & particle_array);
 
 Eigen::Matrix3f std_of_distribution(
-  const modularized_particle_filter_msgs::msg::ParticleArray & particle_array);
+  const yabloc_particle_filter::msg::ParticleArray & particle_array);
 
-float std_of_weight(const modularized_particle_filter_msgs::msg::ParticleArray & particle_array);
+float std_of_weight(const yabloc_particle_filter::msg::ParticleArray & particle_array);
 }  // namespace modularized_particle_filter
 }  // namespace yabloc
 
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/common/prediction_util.hpp b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/common/prediction_util.hpp
similarity index 98%
rename from localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/common/prediction_util.hpp
rename to localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/common/prediction_util.hpp
index b48f8dd249229..33f5ada7ef294 100644
--- a/localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/common/prediction_util.hpp
+++ b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/common/prediction_util.hpp
@@ -15,7 +15,7 @@
 #ifndef MODULARIZED_PARTICLE_FILTER__COMMON__PREDICTION_UTIL_HPP_
 #define MODULARIZED_PARTICLE_FILTER__COMMON__PREDICTION_UTIL_HPP_
 
-#include <eigen3/Eigen/SVD>
+#include <Eigen/SVD>
 
 #include <numeric>
 #include <optional>
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/common/visualize.hpp b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/common/visualize.hpp
similarity index 86%
rename from localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/common/visualize.hpp
rename to localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/common/visualize.hpp
index c661fed475058..55c8a4a99a3f5 100644
--- a/localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/common/visualize.hpp
+++ b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/common/visualize.hpp
@@ -16,8 +16,8 @@
 #define MODULARIZED_PARTICLE_FILTER__COMMON__VISUALIZE_HPP_
 
 #include <rclcpp/rclcpp.hpp>
+#include <yabloc_particle_filter/msg/particle_array.hpp>
 
-#include <modularized_particle_filter_msgs/msg/particle_array.hpp>
 #include <std_msgs/msg/color_rgba.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
@@ -29,8 +29,8 @@ class ParticleVisualizer
 {
 public:
   using MarkerArray = visualization_msgs::msg::MarkerArray;
-  using Particle = modularized_particle_filter_msgs::msg::Particle;
-  using ParticleArray = modularized_particle_filter_msgs::msg::ParticleArray;
+  using Particle = yabloc_particle_filter::msg::Particle;
+  using ParticleArray = yabloc_particle_filter::msg::ParticleArray;
 
   ParticleVisualizer(rclcpp::Node & node);
   void publish(const ParticleArray & msg);
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/correction/abst_corrector.hpp b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/correction/abst_corrector.hpp
similarity index 83%
rename from localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/correction/abst_corrector.hpp
rename to localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/correction/abst_corrector.hpp
index 14000bc663a7d..528470117db53 100644
--- a/localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/correction/abst_corrector.hpp
+++ b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/correction/abst_corrector.hpp
@@ -15,12 +15,11 @@
 #ifndef MODULARIZED_PARTICLE_FILTER__CORRECTION__ABST_CORRECTOR_HPP_
 #define MODULARIZED_PARTICLE_FILTER__CORRECTION__ABST_CORRECTOR_HPP_
 
-#include "modularized_particle_filter/common/mean.hpp"
-#include "modularized_particle_filter/common/visualize.hpp"
+#include "yabloc_particle_filter/common/mean.hpp"
+#include "yabloc_particle_filter/common/visualize.hpp"
 
 #include <rclcpp/rclcpp.hpp>
-
-#include <modularized_particle_filter_msgs/msg/particle_array.hpp>
+#include <yabloc_particle_filter/msg/particle_array.hpp>
 
 #include <optional>
 
@@ -31,8 +30,8 @@ namespace modularized_particle_filter
 class AbstCorrector : public rclcpp::Node
 {
 public:
-  using Particle = modularized_particle_filter_msgs::msg::Particle;
-  using ParticleArray = modularized_particle_filter_msgs::msg::ParticleArray;
+  using Particle = yabloc_particle_filter::msg::Particle;
+  using ParticleArray = yabloc_particle_filter::msg::ParticleArray;
 
   AbstCorrector(const std::string & node_name);
 
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/correction/correction_util.hpp b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/correction/correction_util.hpp
similarity index 79%
rename from localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/correction/correction_util.hpp
rename to localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/correction/correction_util.hpp
index 7b3c7d2368ef5..4ab29cad36766 100644
--- a/localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/correction/correction_util.hpp
+++ b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/correction/correction_util.hpp
@@ -16,8 +16,7 @@
 #define MODULARIZED_PARTICLE_FILTER__CORRECTION__CORRECTION_UTIL_HPP_
 
 #include "rclcpp/rclcpp.hpp"
-
-#include "modularized_particle_filter_msgs/msg/particle_array.hpp"
+#include "yabloc_particle_filter/msg/particle_array.hpp"
 
 #include <boost/circular_buffer.hpp>
 
@@ -27,8 +26,8 @@ namespace yabloc
 {
 namespace modularized_particle_filter
 {
-std::optional<modularized_particle_filter_msgs::msg::ParticleArray> find_synced_particles(
-  boost::circular_buffer<modularized_particle_filter_msgs::msg::ParticleArray> circular_buffer,
+std::optional<yabloc_particle_filter::msg::ParticleArray> find_synced_particles(
+  boost::circular_buffer<yabloc_particle_filter::msg::ParticleArray> circular_buffer,
   rclcpp::Time time);
 }
 }  // namespace yabloc
diff --git a/localization/yabloc/particle_filter/gnss_particle_corrector/include/gnss_particle_corrector/gnss_particle_corrector.hpp b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/gnss_corrector/gnss_particle_corrector.hpp
similarity index 95%
rename from localization/yabloc/particle_filter/gnss_particle_corrector/include/gnss_particle_corrector/gnss_particle_corrector.hpp
rename to localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/gnss_corrector/gnss_particle_corrector.hpp
index 2f175e8ff7942..4aa47e6d76d80 100644
--- a/localization/yabloc/particle_filter/gnss_particle_corrector/include/gnss_particle_corrector/gnss_particle_corrector.hpp
+++ b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/gnss_corrector/gnss_particle_corrector.hpp
@@ -15,10 +15,10 @@
 #ifndef GNSS_PARTILCE_CORRECTOR__GNSS_PARTICLE_CORRECTOR_HPP_
 #define GNSS_PARTILCE_CORRECTOR__GNSS_PARTICLE_CORRECTOR_HPP_
 
-#include "gnss_particle_corrector/weight_manager.hpp"
+#include "yabloc_particle_filter/gnss_corrector/weight_manager.hpp"
 
 #include <Eigen/Core>
-#include <modularized_particle_filter/correction/abst_corrector.hpp>
+#include <yabloc_particle_filter/correction/abst_corrector.hpp>
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
diff --git a/localization/yabloc/particle_filter/gnss_particle_corrector/include/gnss_particle_corrector/weight_manager.hpp b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/gnss_corrector/weight_manager.hpp
similarity index 100%
rename from localization/yabloc/particle_filter/gnss_particle_corrector/include/gnss_particle_corrector/weight_manager.hpp
rename to localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/gnss_corrector/weight_manager.hpp
diff --git a/localization/yabloc/particle_filter/ll2_cost_map/include/ll2_cost_map/direct_cost_map.hpp b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/ll2_cost_map/direct_cost_map.hpp
similarity index 100%
rename from localization/yabloc/particle_filter/ll2_cost_map/include/ll2_cost_map/direct_cost_map.hpp
rename to localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/ll2_cost_map/direct_cost_map.hpp
diff --git a/localization/yabloc/particle_filter/ll2_cost_map/include/ll2_cost_map/hierarchical_cost_map.hpp b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/ll2_cost_map/hierarchical_cost_map.hpp
similarity index 100%
rename from localization/yabloc/particle_filter/ll2_cost_map/include/ll2_cost_map/hierarchical_cost_map.hpp
rename to localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/ll2_cost_map/hierarchical_cost_map.hpp
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/prediction/experimental/suspension_adaptor.hpp b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/prediction/experimental/suspension_adaptor.hpp
similarity index 100%
rename from localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/prediction/experimental/suspension_adaptor.hpp
rename to localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/prediction/experimental/suspension_adaptor.hpp
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/prediction/predictor.hpp b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/prediction/predictor.hpp
similarity index 91%
rename from localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/prediction/predictor.hpp
rename to localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/prediction/predictor.hpp
index 8e0de264b2583..a8a047575d730 100644
--- a/localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/prediction/predictor.hpp
+++ b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/prediction/predictor.hpp
@@ -15,18 +15,18 @@
 #ifndef MODULARIZED_PARTICLE_FILTER__PREDICTION__PREDICTOR_HPP_
 #define MODULARIZED_PARTICLE_FILTER__PREDICTION__PREDICTOR_HPP_
 
-#include "modularized_particle_filter/common/visualize.hpp"
-#include "modularized_particle_filter/prediction/experimental/suspension_adaptor.hpp"
-#include "modularized_particle_filter/prediction/resampler.hpp"
+#include "yabloc_particle_filter/common/visualize.hpp"
+#include "yabloc_particle_filter/prediction/experimental/suspension_adaptor.hpp"
+#include "yabloc_particle_filter/prediction/resampler.hpp"
 
 #include <Eigen/Geometry>
 #include <rclcpp/rclcpp.hpp>
+#include <yabloc_particle_filter/msg/particle_array.hpp>
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
-#include <modularized_particle_filter_msgs/msg/particle_array.hpp>
 #include <std_msgs/msg/float32.hpp>
 #include <visualization_msgs/msg/marker.hpp>
 
@@ -38,7 +38,7 @@ class Predictor : public rclcpp::Node
 {
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-  using ParticleArray = modularized_particle_filter_msgs::msg::ParticleArray;
+  using ParticleArray = yabloc_particle_filter::msg::ParticleArray;
   using PoseStamped = geometry_msgs::msg::PoseStamped;
   using PoseCovStamped = geometry_msgs::msg::PoseWithCovarianceStamped;
   using TwistCovStamped = geometry_msgs::msg::TwistWithCovarianceStamped;
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/prediction/resampler.hpp b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/prediction/resampler.hpp
similarity index 88%
rename from localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/prediction/resampler.hpp
rename to localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/prediction/resampler.hpp
index 382e85b9d32b1..a8ff634b23af0 100644
--- a/localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/prediction/resampler.hpp
+++ b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/prediction/resampler.hpp
@@ -15,12 +15,11 @@
 #ifndef MODULARIZED_PARTICLE_FILTER__PREDICTION__RESAMPLER_HPP_
 #define MODULARIZED_PARTICLE_FILTER__PREDICTION__RESAMPLER_HPP_
 
-#include "modularized_particle_filter/prediction/resampling_history.hpp"
+#include "yabloc_particle_filter/msg/particle_array.hpp"
+#include "yabloc_particle_filter/prediction/resampling_history.hpp"
 
 #include <rclcpp/logger.hpp>
 
-#include "modularized_particle_filter_msgs/msg/particle_array.hpp"
-
 namespace yabloc::modularized_particle_filter
 {
 class resampling_skip_exception : public std::runtime_error
@@ -32,8 +31,8 @@ class resampling_skip_exception : public std::runtime_error
 class RetroactiveResampler
 {
 public:
-  using Particle = modularized_particle_filter_msgs::msg::Particle;
-  using ParticleArray = modularized_particle_filter_msgs::msg::ParticleArray;
+  using Particle = yabloc_particle_filter::msg::Particle;
+  using ParticleArray = yabloc_particle_filter::msg::ParticleArray;
 
   RetroactiveResampler(int number_of_particles, int max_history_num);
 
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/prediction/resampling_history.hpp b/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/prediction/resampling_history.hpp
similarity index 100%
rename from localization/yabloc/particle_filter/modularized_particle_filter/include/modularized_particle_filter/prediction/resampling_history.hpp
rename to localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/prediction/resampling_history.hpp
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter_msgs/msg/Particle.msg b/localization/yabloc/yabloc_particle_filter/msg/Particle.msg
similarity index 100%
rename from localization/yabloc/particle_filter/modularized_particle_filter_msgs/msg/Particle.msg
rename to localization/yabloc/yabloc_particle_filter/msg/Particle.msg
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter_msgs/msg/ParticleArray.msg b/localization/yabloc/yabloc_particle_filter/msg/ParticleArray.msg
similarity index 100%
rename from localization/yabloc/particle_filter/modularized_particle_filter_msgs/msg/ParticleArray.msg
rename to localization/yabloc/yabloc_particle_filter/msg/ParticleArray.msg
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/package.xml b/localization/yabloc/yabloc_particle_filter/package.xml
similarity index 76%
rename from localization/yabloc/particle_filter/modularized_particle_filter/package.xml
rename to localization/yabloc/yabloc_particle_filter/package.xml
index b7a9e0b111a96..ecdab9117849f 100644
--- a/localization/yabloc/particle_filter/modularized_particle_filter/package.xml
+++ b/localization/yabloc/yabloc_particle_filter/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>modularized_particle_filter</name>
+  <name>yabloc_particle_filter</name>
   <version>0.1.0</version>
-  <description>The modularized_particle_filter package</description>
+  <description>The particle filter package</description>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
   <license>Apache License 2.0</license>
 
@@ -14,18 +14,22 @@
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>std_msgs</depend>
+  <depend>std_srvs</depend>
   <depend>geometry_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>visualization_msgs</depend>
   <depend>tf2_sensor_msgs</depend>
   <depend>tf2_geometry_msgs</depend>
+  <depend>libgoogle-glog-dev</depend>
 
   <depend>sophus</depend>
   <depend>yabloc_common</depend>
-  <depend>modularized_particle_filter_msgs</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
 
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
diff --git a/localization/yabloc/particle_filter/camera_particle_corrector/src/camera_particle_corrector_core.cpp b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp
similarity index 98%
rename from localization/yabloc/particle_filter/camera_particle_corrector/src/camera_particle_corrector_core.cpp
rename to localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp
index f2ed64c774ca5..7415c9b46b609 100644
--- a/localization/yabloc/particle_filter/camera_particle_corrector/src/camera_particle_corrector_core.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "camera_particle_corrector/camera_particle_corrector.hpp"
-#include "camera_particle_corrector/fast_cos.hpp"
-#include "camera_particle_corrector/logit.hpp"
+#include "yabloc_particle_filter/camera_corrector/camera_particle_corrector.hpp"
+#include "yabloc_particle_filter/camera_corrector/fast_cos.hpp"
+#include "yabloc_particle_filter/camera_corrector/logit.hpp"
 
 #include <opencv4/opencv2/imgproc.hpp>
 #include <yabloc_common/color.hpp>
diff --git a/localization/yabloc/particle_filter/camera_particle_corrector/src/camera_particle_corrector_node.cpp b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_node.cpp
similarity index 91%
rename from localization/yabloc/particle_filter/camera_particle_corrector/src/camera_particle_corrector_node.cpp
rename to localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_node.cpp
index ec9580e63b85a..eadbb3f294124 100644
--- a/localization/yabloc/particle_filter/camera_particle_corrector/src/camera_particle_corrector_node.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "camera_particle_corrector/camera_particle_corrector.hpp"
+#include "yabloc_particle_filter/camera_corrector/camera_particle_corrector.hpp"
 
 #include <glog/logging.h>
 
diff --git a/localization/yabloc/particle_filter/camera_particle_corrector/src/filt_lsd.cpp b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/filt_lsd.cpp
similarity index 97%
rename from localization/yabloc/particle_filter/camera_particle_corrector/src/filt_lsd.cpp
rename to localization/yabloc/yabloc_particle_filter/src/camera_corrector/filt_lsd.cpp
index bb2574f546b64..8ef194e3385f8 100644
--- a/localization/yabloc/particle_filter/camera_particle_corrector/src/filt_lsd.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/filt_lsd.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "camera_particle_corrector/camera_particle_corrector.hpp"
+#include "yabloc_particle_filter/camera_corrector/camera_particle_corrector.hpp"
 
 #include <opencv4/opencv2/highgui.hpp>
 #include <opencv4/opencv2/imgproc.hpp>
diff --git a/localization/yabloc/particle_filter/camera_particle_corrector/src/logit.cpp b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/logit.cpp
similarity index 95%
rename from localization/yabloc/particle_filter/camera_particle_corrector/src/logit.cpp
rename to localization/yabloc/yabloc_particle_filter/src/camera_corrector/logit.cpp
index 2188f52d88ae8..c03a33368fb9b 100644
--- a/localization/yabloc/particle_filter/camera_particle_corrector/src/logit.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/logit.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "camera_particle_corrector/logit.hpp"
+#include "yabloc_particle_filter/camera_corrector/logit.hpp"
 
 #include <algorithm>
 #include <array>
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/src/common/mean.cpp b/localization/yabloc/yabloc_particle_filter/src/common/mean.cpp
similarity index 87%
rename from localization/yabloc/particle_filter/modularized_particle_filter/src/common/mean.cpp
rename to localization/yabloc/yabloc_particle_filter/src/common/mean.cpp
index 77d7743a75986..e67c248b4d25b 100644
--- a/localization/yabloc/particle_filter/modularized_particle_filter/src/common/mean.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/common/mean.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "modularized_particle_filter/common/mean.hpp"
+#include "yabloc_particle_filter/common/mean.hpp"
 
-#include <eigen3/Eigen/Geometry>
+#include <Eigen/Geometry>
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>
 #include <yabloc_common/pose_conversions.hpp>
@@ -44,10 +44,10 @@ double mean_radian(const std::vector<double> & angles, const std::vector<double>
 }  // namespace
 
 geometry_msgs::msg::Pose mean_pose(
-  const modularized_particle_filter_msgs::msg::ParticleArray & particle_array)
+  const yabloc_particle_filter::msg::ParticleArray & particle_array)
 {
   using Pose = geometry_msgs::msg::Pose;
-  using Particle = modularized_particle_filter_msgs::msg::Particle;
+  using Particle = yabloc_particle_filter::msg::Particle;
 
   Pose mean_pose;
 
@@ -89,10 +89,9 @@ geometry_msgs::msg::Pose mean_pose(
   return mean_pose;
 }
 
-Eigen::Matrix3f std_of_distribution(
-  const modularized_particle_filter_msgs::msg::ParticleArray & array)
+Eigen::Matrix3f std_of_distribution(const yabloc_particle_filter::msg::ParticleArray & array)
 {
-  using Particle = modularized_particle_filter_msgs::msg::Particle;
+  using Particle = yabloc_particle_filter::msg::Particle;
   auto ori = mean_pose(array).orientation;
   Eigen::Quaternionf orientation(ori.w, ori.x, ori.y, ori.z);
   float invN = 1.f / array.particles.size();
@@ -114,9 +113,9 @@ Eigen::Matrix3f std_of_distribution(
   return sigma;
 }
 
-float std_of_weight(const modularized_particle_filter_msgs::msg::ParticleArray & particle_array)
+float std_of_weight(const yabloc_particle_filter::msg::ParticleArray & particle_array)
 {
-  using Particle = modularized_particle_filter_msgs::msg::Particle;
+  using Particle = yabloc_particle_filter::msg::Particle;
 
   const float invN = 1.f / particle_array.particles.size();
   float mean = 0;
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/src/common/particle_visualize_node.cpp b/localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp
similarity index 94%
rename from localization/yabloc/particle_filter/modularized_particle_filter/src/common/particle_visualize_node.cpp
rename to localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp
index 6b7a187656bb1..efe84cec7fb6c 100644
--- a/localization/yabloc/particle_filter/modularized_particle_filter/src/common/particle_visualize_node.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/common/particle_visualize_node.cpp
@@ -15,8 +15,8 @@
 #include "yabloc_common/color.hpp"
 
 #include <rclcpp/rclcpp.hpp>
+#include <yabloc_particle_filter/msg/particle_array.hpp>
 
-#include <modularized_particle_filter_msgs/msg/particle_array.hpp>
 #include <sensor_msgs/msg/nav_sat_fix.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
@@ -25,8 +25,8 @@ namespace yabloc::modularized_particle_fitler
 class ParticleVisualize : public rclcpp::Node
 {
 public:
-  using Particle = modularized_particle_filter_msgs::msg::Particle;
-  using ParticleArray = modularized_particle_filter_msgs::msg::ParticleArray;
+  using Particle = yabloc_particle_filter::msg::Particle;
+  using ParticleArray = yabloc_particle_filter::msg::ParticleArray;
   using Marker = visualization_msgs::msg::Marker;
   using MarkerArray = visualization_msgs::msg::MarkerArray;
 
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/src/common/visualize.cpp b/localization/yabloc/yabloc_particle_filter/src/common/visualize.cpp
similarity index 97%
rename from localization/yabloc/particle_filter/modularized_particle_filter/src/common/visualize.cpp
rename to localization/yabloc/yabloc_particle_filter/src/common/visualize.cpp
index a30c48f6f5e3f..f4c34d5b5ab6e 100644
--- a/localization/yabloc/particle_filter/modularized_particle_filter/src/common/visualize.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/common/visualize.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "modularized_particle_filter/common/visualize.hpp"
+#include "yabloc_particle_filter/common/visualize.hpp"
 
 #include <yabloc_common/color.hpp>
 
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/src/correction/abst_corrector.cpp b/localization/yabloc/yabloc_particle_filter/src/correction/abst_corrector.cpp
similarity index 97%
rename from localization/yabloc/particle_filter/modularized_particle_filter/src/correction/abst_corrector.cpp
rename to localization/yabloc/yabloc_particle_filter/src/correction/abst_corrector.cpp
index d1f52e4109962..8de7c1417d58f 100644
--- a/localization/yabloc/particle_filter/modularized_particle_filter/src/correction/abst_corrector.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/correction/abst_corrector.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "modularized_particle_filter/correction/abst_corrector.hpp"
+#include "yabloc_particle_filter/correction/abst_corrector.hpp"
 
 namespace yabloc::modularized_particle_filter
 {
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/src/correction/correction_util.cpp b/localization/yabloc/yabloc_particle_filter/src/correction/correction_util.cpp
similarity index 83%
rename from localization/yabloc/particle_filter/modularized_particle_filter/src/correction/correction_util.cpp
rename to localization/yabloc/yabloc_particle_filter/src/correction/correction_util.cpp
index 72718a3ed9923..dfe3ea27b87ba 100644
--- a/localization/yabloc/particle_filter/modularized_particle_filter/src/correction/correction_util.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/correction/correction_util.cpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "modularized_particle_filter/correction/correction_util.hpp"
+#include "yabloc_particle_filter/correction/correction_util.hpp"
 
 namespace yabloc::modularized_particle_filter
 {
-std::optional<modularized_particle_filter_msgs::msg::ParticleArray> find_synced_particles(
-  boost::circular_buffer<modularized_particle_filter_msgs::msg::ParticleArray> circular_buffer,
+std::optional<yabloc_particle_filter::msg::ParticleArray> find_synced_particles(
+  boost::circular_buffer<yabloc_particle_filter::msg::ParticleArray> circular_buffer,
   rclcpp::Time time)
 {
   for (int i{1}; i < static_cast<int>(circular_buffer.size()); i++) {
diff --git a/localization/yabloc/particle_filter/gnss_particle_corrector/src/gnss_corrector_core.cpp b/localization/yabloc/yabloc_particle_filter/src/gnss_corrector/gnss_corrector_core.cpp
similarity index 99%
rename from localization/yabloc/particle_filter/gnss_particle_corrector/src/gnss_corrector_core.cpp
rename to localization/yabloc/yabloc_particle_filter/src/gnss_corrector/gnss_corrector_core.cpp
index a1047953541d7..a459b85563557 100644
--- a/localization/yabloc/particle_filter/gnss_particle_corrector/src/gnss_corrector_core.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/gnss_corrector/gnss_corrector_core.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "gnss_particle_corrector/gnss_particle_corrector.hpp"
+#include "yabloc_particle_filter/gnss_corrector/gnss_particle_corrector.hpp"
 
 #include <yabloc_common/color.hpp>
 #include <yabloc_common/fix2mgrs.hpp>
diff --git a/localization/yabloc/particle_filter/gnss_particle_corrector/src/gnss_corrector_node.cpp b/localization/yabloc/yabloc_particle_filter/src/gnss_corrector/gnss_corrector_node.cpp
similarity index 91%
rename from localization/yabloc/particle_filter/gnss_particle_corrector/src/gnss_corrector_node.cpp
rename to localization/yabloc/yabloc_particle_filter/src/gnss_corrector/gnss_corrector_node.cpp
index 7cb3cb3d3cba3..439e8a7657574 100644
--- a/localization/yabloc/particle_filter/gnss_particle_corrector/src/gnss_corrector_node.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/gnss_corrector/gnss_corrector_node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "gnss_particle_corrector/gnss_particle_corrector.hpp"
+#include "yabloc_particle_filter/gnss_corrector/gnss_particle_corrector.hpp"
 
 int main(int argc, char * argv[])
 {
diff --git a/localization/yabloc/particle_filter/ll2_cost_map/src/direct_cost_map.cpp b/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp
similarity index 98%
rename from localization/yabloc/particle_filter/ll2_cost_map/src/direct_cost_map.cpp
rename to localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp
index 7dcce68d9e2af..f39aa6ceaf25d 100644
--- a/localization/yabloc/particle_filter/ll2_cost_map/src/direct_cost_map.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ll2_cost_map/direct_cost_map.hpp"
+#include "yabloc_particle_filter/ll2_cost_map/direct_cost_map.hpp"
 
 namespace yabloc
 {
diff --git a/localization/yabloc/particle_filter/ll2_cost_map/src/hierarchical_cost_map.cpp b/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp
similarity index 98%
rename from localization/yabloc/particle_filter/ll2_cost_map/src/hierarchical_cost_map.cpp
rename to localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp
index b33c3cbbc596e..0abc109113441 100644
--- a/localization/yabloc/particle_filter/ll2_cost_map/src/hierarchical_cost_map.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "ll2_cost_map/hierarchical_cost_map.hpp"
+#include "yabloc_particle_filter/ll2_cost_map/hierarchical_cost_map.hpp"
 
-#include "ll2_cost_map/direct_cost_map.hpp"
+#include "yabloc_particle_filter/ll2_cost_map/direct_cost_map.hpp"
 
 #include <opencv4/opencv2/highgui.hpp>
 #include <opencv4/opencv2/imgproc.hpp>
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/src/prediction/predictor.cpp b/localization/yabloc/yabloc_particle_filter/src/prediction/predictor.cpp
similarity index 97%
rename from localization/yabloc/particle_filter/modularized_particle_filter/src/prediction/predictor.cpp
rename to localization/yabloc/yabloc_particle_filter/src/prediction/predictor.cpp
index 9486ec9936395..479e62314bc6e 100644
--- a/localization/yabloc/particle_filter/modularized_particle_filter/src/prediction/predictor.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/prediction/predictor.cpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "modularized_particle_filter/prediction/predictor.hpp"
+#include "yabloc_particle_filter/prediction/predictor.hpp"
 
-#include "modularized_particle_filter/common/mean.hpp"
-#include "modularized_particle_filter/common/prediction_util.hpp"
-#include "modularized_particle_filter/prediction/resampler.hpp"
+#include "yabloc_particle_filter/common/mean.hpp"
+#include "yabloc_particle_filter/common/prediction_util.hpp"
+#include "yabloc_particle_filter/prediction/resampler.hpp"
 
 #include <Eigen/Core>
 #include <sophus/geometry.hpp>
@@ -98,7 +98,7 @@ void Predictor::on_initial_pose(const PoseCovStamped::ConstSharedPtr initialpose
 void Predictor::initialize_particles(const PoseCovStamped & initialpose)
 {
   RCLCPP_INFO_STREAM(this->get_logger(), "initialize_particles");
-  modularized_particle_filter_msgs::msg::ParticleArray particle_array{};
+  yabloc_particle_filter::msg::ParticleArray particle_array{};
   particle_array.header = initialpose.header;
   particle_array.id = 0;
   particle_array.particles.resize(number_of_particles_);
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/src/prediction/predictor_node.cpp b/localization/yabloc/yabloc_particle_filter/src/prediction/predictor_node.cpp
similarity index 92%
rename from localization/yabloc/particle_filter/modularized_particle_filter/src/prediction/predictor_node.cpp
rename to localization/yabloc/yabloc_particle_filter/src/prediction/predictor_node.cpp
index bb87da5e8f01f..81c756908b0f8 100644
--- a/localization/yabloc/particle_filter/modularized_particle_filter/src/prediction/predictor_node.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/prediction/predictor_node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "modularized_particle_filter/prediction/predictor.hpp"
+#include "yabloc_particle_filter/prediction/predictor.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/src/prediction/resampler.cpp b/localization/yabloc/yabloc_particle_filter/src/prediction/resampler.cpp
similarity index 98%
rename from localization/yabloc/particle_filter/modularized_particle_filter/src/prediction/resampler.cpp
rename to localization/yabloc/yabloc_particle_filter/src/prediction/resampler.cpp
index f2cb5eeec13c5..44f98f3e6d469 100644
--- a/localization/yabloc/particle_filter/modularized_particle_filter/src/prediction/resampler.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/prediction/resampler.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "modularized_particle_filter/prediction/resampler.hpp"
+#include "yabloc_particle_filter/prediction/resampler.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/test/CMakeLists.txt b/localization/yabloc/yabloc_particle_filter/test/CMakeLists.txt
similarity index 100%
rename from localization/yabloc/particle_filter/modularized_particle_filter/test/CMakeLists.txt
rename to localization/yabloc/yabloc_particle_filter/test/CMakeLists.txt
diff --git a/localization/yabloc/particle_filter/modularized_particle_filter/test/src/test_resampler.cpp b/localization/yabloc/yabloc_particle_filter/test/src/test_resampler.cpp
similarity index 96%
rename from localization/yabloc/particle_filter/modularized_particle_filter/test/src/test_resampler.cpp
rename to localization/yabloc/yabloc_particle_filter/test/src/test_resampler.cpp
index 81e3695d2f1e0..4d823a36e0d94 100644
--- a/localization/yabloc/particle_filter/modularized_particle_filter/test/src/test_resampler.cpp
+++ b/localization/yabloc/yabloc_particle_filter/test/src/test_resampler.cpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "modularized_particle_filter/prediction/resampler.hpp"
+#include "yabloc_particle_filter/prediction/resampler.hpp"
 
 #include <rclcpp/time.hpp>
 
 #include <gtest/gtest.h>
 
 namespace mpf = yabloc::modularized_particle_filter;
-using Particle = modularized_particle_filter_msgs::msg::Particle;
-using ParticleArray = modularized_particle_filter_msgs::msg::ParticleArray;
+using Particle = yabloc_particle_filter::msg::Particle;
+using ParticleArray = yabloc_particle_filter::msg::ParticleArray;
 
 constexpr int PARTICLE_COUNT = 10;
 constexpr int HISTORY_SIZE = 10;