diff --git a/perception/object_range_splitter/CMakeLists.txt b/perception/object_range_splitter/CMakeLists.txt
index 92c6c0668a085..1da71a31b26d0 100644
--- a/perception/object_range_splitter/CMakeLists.txt
+++ b/perception/object_range_splitter/CMakeLists.txt
@@ -4,12 +4,12 @@ project(object_range_splitter)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_library(object_range_splitter SHARED
-  src/node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/object_range_splitter_node.cpp
 )
 
-rclcpp_components_register_node(object_range_splitter
-  PLUGIN "object_range_splitter::ObjectRangeSplitterNode"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::object_range_splitter::ObjectRangeSplitterNode"
   EXECUTABLE object_range_splitter_node
 )
 
diff --git a/perception/object_range_splitter/package.xml b/perception/object_range_splitter/package.xml
index bef3ea76354d1..7fc9245ee894f 100644
--- a/perception/object_range_splitter/package.xml
+++ b/perception/object_range_splitter/package.xml
@@ -14,7 +14,6 @@
   <depend>autoware_perception_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>sensor_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/perception/object_range_splitter/src/node.cpp b/perception/object_range_splitter/src/object_range_splitter_node.cpp
similarity index 91%
rename from perception/object_range_splitter/src/node.cpp
rename to perception/object_range_splitter/src/object_range_splitter_node.cpp
index 978c40275fb9b..5d5a4aad70011 100644
--- a/perception/object_range_splitter/src/node.cpp
+++ b/perception/object_range_splitter/src/object_range_splitter_node.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "object_range_splitter/node.hpp"
+#include "object_range_splitter_node.hpp"
 
-namespace object_range_splitter
+namespace autoware::object_range_splitter
 {
 ObjectRangeSplitterNode::ObjectRangeSplitterNode(const rclcpp::NodeOptions & node_options)
 : Node("object_range_splitter_node", node_options)
@@ -59,7 +59,7 @@ void ObjectRangeSplitterNode::objectCallback(
   long_range_object_pub_->publish(output_long_range_object_msg);
   short_range_object_pub_->publish(output_short_range_object_msg);
 }
-}  // namespace object_range_splitter
+}  // namespace autoware::object_range_splitter
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(object_range_splitter::ObjectRangeSplitterNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::object_range_splitter::ObjectRangeSplitterNode)
diff --git a/perception/object_range_splitter/include/object_range_splitter/node.hpp b/perception/object_range_splitter/src/object_range_splitter_node.hpp
similarity index 81%
rename from perception/object_range_splitter/include/object_range_splitter/node.hpp
rename to perception/object_range_splitter/src/object_range_splitter_node.hpp
index a4dbb2fb634aa..19e5924272eb9 100644
--- a/perception/object_range_splitter/include/object_range_splitter/node.hpp
+++ b/perception/object_range_splitter/src/object_range_splitter_node.hpp
@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_RANGE_SPLITTER__NODE_HPP_
-#define OBJECT_RANGE_SPLITTER__NODE_HPP_
+#ifndef OBJECT_RANGE_SPLITTER_NODE_HPP_
+#define OBJECT_RANGE_SPLITTER_NODE_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_perception_msgs/msg/detected_objects.hpp>
+#include "autoware_perception_msgs/msg/detected_objects.hpp"
 
 #include <memory>
 
-namespace object_range_splitter
+namespace autoware::object_range_splitter
 {
 class ObjectRangeSplitterNode : public rclcpp::Node
 {
@@ -42,6 +42,6 @@ class ObjectRangeSplitterNode : public rclcpp::Node
   float spilt_range_;
 };
 
-}  // namespace object_range_splitter
+}  // namespace autoware::object_range_splitter
 
-#endif  // OBJECT_RANGE_SPLITTER__NODE_HPP_
+#endif  // OBJECT_RANGE_SPLITTER_NODE_HPP_