diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
index 25fb1e6ac6c4d..80840f67ee820 100644
--- a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
+++ b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -320,7 +320,7 @@ def create_time_series_outlier_filter_components(input_topic, output_topic):
         components.append(
             ComposableNode(
                 package="occupancy_grid_map_outlier_filter",
-                plugin="occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent",
+                plugin="autoware::occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent",
                 name="occupancy_grid_based_outlier_filter",
                 remappings=[
                     ("~/input/occupancy_grid_map", "/perception/occupancy_grid_map/map"),
diff --git a/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt b/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt
index 724e5a3354396..9754cea458577 100644
--- a/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt
+++ b/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt
@@ -8,7 +8,6 @@ find_package(OpenCV REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(Boost REQUIRED)
 find_package(PCL REQUIRED)
-find_package(pcl_conversions REQUIRED)
 find_package(OpenMP)
 ament_auto_find_build_dependencies()
 
@@ -22,26 +21,26 @@ include_directories(
   ${GRID_MAP_INCLUDE_DIR}
 )
 
-ament_auto_add_library(occupancy_grid_map_outlier_filter SHARED
-  src/occupancy_grid_map_outlier_filter_nodelet.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/occupancy_grid_map_outlier_filter_node.cpp
 )
 
-target_link_libraries(occupancy_grid_map_outlier_filter
+target_link_libraries(${PROJECT_NAME}
   ${Boost_LIBRARIES}
   ${OpenCV_LIBRARIES}
   ${PCL_LIBRARIES}
 )
 
 if(OPENMP_FOUND)
-  set_target_properties(occupancy_grid_map_outlier_filter PROPERTIES
+  set_target_properties(${PROJECT_NAME} PROPERTIES
     COMPILE_FLAGS ${OpenMP_CXX_FLAGS}
     LINK_FLAGS ${OpenMP_CXX_FLAGS}
   )
 endif()
 
 # -- Occupancy Grid Map Outlier Filter --
-rclcpp_components_register_node(occupancy_grid_map_outlier_filter
-  PLUGIN "occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent"
   EXECUTABLE occupancy_grid_map_outlier_filter_node)
 
 ament_auto_package(INSTALL_TO_SHARE)
diff --git a/perception/occupancy_grid_map_outlier_filter/package.xml b/perception/occupancy_grid_map_outlier_filter/package.xml
index 23d08db09553a..e92e5edb4b084 100644
--- a/perception/occupancy_grid_map_outlier_filter/package.xml
+++ b/perception/occupancy_grid_map_outlier_filter/package.xml
@@ -19,27 +19,18 @@
 
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_universe_utils</depend>
-  <depend>autoware_vehicle_msgs</depend>
-  <depend>diagnostic_updater</depend>
-  <depend>image_transport</depend>
-  <depend>libopencv-dev</depend>
   <depend>libpcl-all-dev</depend>
   <depend>message_filters</depend>
   <depend>nav_msgs</depend>
   <depend>pcl_conversions</depend>
-  <depend>pcl_msgs</depend>
   <depend>pcl_ros</depend>
   <depend>pointcloud_preprocessor</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
-  <depend>tf2</depend>
   <depend>tf2_eigen</depend>
-  <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
-  <depend>tier4_pcl_extensions</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp
similarity index 97%
rename from perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp
rename to perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp
index f62a3f7e689fc..1536db8610b76 100644
--- a/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp
+++ b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp
@@ -12,11 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp"
+#include "occupancy_grid_map_outlier_filter_node.hpp"
+
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/ros/debug_publisher.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 
-#include <autoware/universe_utils/geometry/geometry.hpp>
-#include <autoware/universe_utils/ros/debug_publisher.hpp>
-#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <pcl_ros/transforms.hpp>
 
 #include <boost/optional.hpp>
@@ -101,7 +102,7 @@ boost::optional<char> getCost(
 
 }  // namespace
 
-namespace occupancy_grid_map_outlier_filter
+namespace autoware::occupancy_grid_map_outlier_filter
 {
 RadiusSearch2dFilter::RadiusSearch2dFilter(rclcpp::Node & node)
 {
@@ -489,8 +490,8 @@ void OccupancyGridMapOutlierFilterComponent::Debugger::transformToBaseLink(
   transformPointcloud(ros_input, *(node_.tf2_), node_.base_link_frame_, output);
 }
 
-}  // namespace occupancy_grid_map_outlier_filter
+}  // namespace autoware::occupancy_grid_map_outlier_filter
 
 #include <rclcpp_components/register_node_macro.hpp>
 RCLCPP_COMPONENTS_REGISTER_NODE(
-  occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent)
+  autoware::occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent)
diff --git a/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.hpp
similarity index 91%
rename from perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp
rename to perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.hpp
index ae6d7a34fca2a..e9402d6416cbd 100644
--- a/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp
+++ b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OCCUPANCY_GRID_MAP_OUTLIER_FILTER__OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODELET_HPP_
-#define OCCUPANCY_GRID_MAP_OUTLIER_FILTER__OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODELET_HPP_
+#ifndef OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODE_HPP_
+#define OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODE_HPP_
 
+#include "autoware/universe_utils/ros/published_time_publisher.hpp"
 #include "pointcloud_preprocessor/filter.hpp"
 
-#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <pcl/common/impl/common.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -40,7 +40,7 @@
 #include <memory>
 #include <string>
 
-namespace occupancy_grid_map_outlier_filter
+namespace autoware::occupancy_grid_map_outlier_filter
 {
 using geometry_msgs::msg::Pose;
 using nav_msgs::msg::OccupancyGrid;
@@ -129,6 +129,6 @@ class OccupancyGridMapOutlierFilterComponent : public rclcpp::Node
   std::string base_link_frame_;
   int cost_threshold_;
 };
-}  // namespace occupancy_grid_map_outlier_filter
+}  // namespace autoware::occupancy_grid_map_outlier_filter
 
-#endif  // OCCUPANCY_GRID_MAP_OUTLIER_FILTER__OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODELET_HPP_
+#endif  // OCCUPANCY_GRID_MAP_OUTLIER_FILTER_NODE_HPP_