diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index f433fb0d26332..b53d08a4e7d9f 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -207,9 +207,9 @@ sensing/image_transport_decompressor/** kenzo.lobos@tier4.jp yukihiro.saito@tier
 sensing/imu_corrector/** taiki.yamada@tier4.jp yamato.ando@tier4.jp
 sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp
 sensing/autoware_pointcloud_preprocessor/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp david.wong@tier4.jp kenzo.lobos@tier4.jp kyoichi.sugahara@tier4.jp melike@leodrive.ai shunsuke.miura@tier4.jp yihsiang.fang@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
-sensing/radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
-sensing/radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
-sensing/radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
+sensing/autoware_radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
+sensing/autoware_radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
+sensing/autoware_radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 sensing/radar_tracks_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 sensing/tier4_pcl_extensions/** david.wong@tier4.jp kenzo.lobos@tier4.jp ryu.yamamoto@tier4.jp
 sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp
diff --git a/sensing/radar_scan_to_pointcloud2/CMakeLists.txt b/sensing/autoware_radar_scan_to_pointcloud2/CMakeLists.txt
similarity index 94%
rename from sensing/radar_scan_to_pointcloud2/CMakeLists.txt
rename to sensing/autoware_radar_scan_to_pointcloud2/CMakeLists.txt
index 44b668b49c87a..07139739067f1 100644
--- a/sensing/radar_scan_to_pointcloud2/CMakeLists.txt
+++ b/sensing/autoware_radar_scan_to_pointcloud2/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(radar_scan_to_pointcloud2)
+project(autoware_radar_scan_to_pointcloud2)
 
 # Dependencies
 find_package(autoware_cmake REQUIRED)
diff --git a/sensing/radar_scan_to_pointcloud2/README.md b/sensing/autoware_radar_scan_to_pointcloud2/README.md
similarity index 94%
rename from sensing/radar_scan_to_pointcloud2/README.md
rename to sensing/autoware_radar_scan_to_pointcloud2/README.md
index 100fd509ef35b..507393396b379 100644
--- a/sensing/radar_scan_to_pointcloud2/README.md
+++ b/sensing/autoware_radar_scan_to_pointcloud2/README.md
@@ -29,5 +29,5 @@
 ### How to launch
 
 ```sh
-ros2 launch radar_scan_to_pointcloud2 radar_scan_to_pointcloud2.launch.xml
+ros2 launch autoware_radar_scan_to_pointcloud2 radar_scan_to_pointcloud2.launch.xml
 ```
diff --git a/sensing/radar_scan_to_pointcloud2/config/radar_scan_to_pointcloud2.param.yaml b/sensing/autoware_radar_scan_to_pointcloud2/config/radar_scan_to_pointcloud2.param.yaml
similarity index 100%
rename from sensing/radar_scan_to_pointcloud2/config/radar_scan_to_pointcloud2.param.yaml
rename to sensing/autoware_radar_scan_to_pointcloud2/config/radar_scan_to_pointcloud2.param.yaml
diff --git a/sensing/radar_scan_to_pointcloud2/launch/radar_scan_to_pointcloud2.launch.xml b/sensing/autoware_radar_scan_to_pointcloud2/launch/radar_scan_to_pointcloud2.launch.xml
similarity index 66%
rename from sensing/radar_scan_to_pointcloud2/launch/radar_scan_to_pointcloud2.launch.xml
rename to sensing/autoware_radar_scan_to_pointcloud2/launch/radar_scan_to_pointcloud2.launch.xml
index 45853c409fced..b798a5ca23e63 100644
--- a/sensing/radar_scan_to_pointcloud2/launch/radar_scan_to_pointcloud2.launch.xml
+++ b/sensing/autoware_radar_scan_to_pointcloud2/launch/radar_scan_to_pointcloud2.launch.xml
@@ -3,9 +3,9 @@
   <arg name="output/amplitude_pointcloud" default="output/amplitude_pointcloud"/>
   <arg name="output/doppler_pointcloud" default="output/doppler_pointcloud"/>
   <!-- Parameter -->
-  <arg name="param_file" default="$(find-pkg-share radar_scan_to_pointcloud2)/config/radar_scan_to_pointcloud2.param.yaml"/>
+  <arg name="param_file" default="$(find-pkg-share autoware_radar_scan_to_pointcloud2)/config/radar_scan_to_pointcloud2.param.yaml"/>
 
-  <node pkg="radar_scan_to_pointcloud2" exec="radar_scan_to_pointcloud2_node" name="radar_scan_to_pointcloud2" output="screen">
+  <node pkg="autoware_radar_scan_to_pointcloud2" exec="radar_scan_to_pointcloud2_node" name="radar_scan_to_pointcloud2" output="screen">
     <remap from="~/input/radar" to="$(var input/radar)"/>
     <remap from="~/output/amplitude_pointcloud" to="$(var output/amplitude_pointcloud)"/>
     <remap from="~/output/doppler_pointcloud" to="$(var output/doppler_pointcloud)"/>
diff --git a/sensing/radar_scan_to_pointcloud2/package.xml b/sensing/autoware_radar_scan_to_pointcloud2/package.xml
similarity index 89%
rename from sensing/radar_scan_to_pointcloud2/package.xml
rename to sensing/autoware_radar_scan_to_pointcloud2/package.xml
index c8c84ee3c8a4a..7a2a8bd9694b3 100644
--- a/sensing/radar_scan_to_pointcloud2/package.xml
+++ b/sensing/autoware_radar_scan_to_pointcloud2/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>radar_scan_to_pointcloud2</name>
+  <name>autoware_radar_scan_to_pointcloud2</name>
   <version>0.1.0</version>
-  <description>radar_scan_to_pointcloud2</description>
+  <description>autoware_radar_scan_to_pointcloud2</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/sensing/radar_scan_to_pointcloud2/schema/radar_scan_to_pointcloud2.schema.json b/sensing/autoware_radar_scan_to_pointcloud2/schema/radar_scan_to_pointcloud2.schema.json
similarity index 100%
rename from sensing/radar_scan_to_pointcloud2/schema/radar_scan_to_pointcloud2.schema.json
rename to sensing/autoware_radar_scan_to_pointcloud2/schema/radar_scan_to_pointcloud2.schema.json
diff --git a/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.cpp b/sensing/autoware_radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.cpp
similarity index 100%
rename from sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.cpp
rename to sensing/autoware_radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.cpp
diff --git a/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.hpp b/sensing/autoware_radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.hpp
similarity index 100%
rename from sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.hpp
rename to sensing/autoware_radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node.hpp
diff --git a/sensing/radar_static_pointcloud_filter/CMakeLists.txt b/sensing/autoware_radar_static_pointcloud_filter/CMakeLists.txt
similarity index 93%
rename from sensing/radar_static_pointcloud_filter/CMakeLists.txt
rename to sensing/autoware_radar_static_pointcloud_filter/CMakeLists.txt
index a796a0fa9734d..5fb35d34a8501 100644
--- a/sensing/radar_static_pointcloud_filter/CMakeLists.txt
+++ b/sensing/autoware_radar_static_pointcloud_filter/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(radar_static_pointcloud_filter)
+project(autoware_radar_static_pointcloud_filter)
 
 # Dependencies
 find_package(autoware_cmake REQUIRED)
diff --git a/sensing/radar_static_pointcloud_filter/README.md b/sensing/autoware_radar_static_pointcloud_filter/README.md
similarity index 93%
rename from sensing/radar_static_pointcloud_filter/README.md
rename to sensing/autoware_radar_static_pointcloud_filter/README.md
index 1e480ef4354dc..e84e8e998806f 100644
--- a/sensing/radar_static_pointcloud_filter/README.md
+++ b/sensing/autoware_radar_static_pointcloud_filter/README.md
@@ -28,7 +28,7 @@ Calculation cost is O(n). `n` is the number of radar pointcloud.
 ### How to launch
 
 ```sh
-ros2 launch radar_static_pointcloud_filter radar_static_pointcloud_filter.launch
+ros2 launch autoware_radar_static_pointcloud_filter radar_static_pointcloud_filter.launch.xml
 ```
 
 ### Algorithm
diff --git a/sensing/radar_static_pointcloud_filter/config/radar_static_pointcloud_filter.param.yaml b/sensing/autoware_radar_static_pointcloud_filter/config/radar_static_pointcloud_filter.param.yaml
similarity index 100%
rename from sensing/radar_static_pointcloud_filter/config/radar_static_pointcloud_filter.param.yaml
rename to sensing/autoware_radar_static_pointcloud_filter/config/radar_static_pointcloud_filter.param.yaml
diff --git a/sensing/radar_static_pointcloud_filter/docs/radar_static_pointcloud_filter.drawio.svg b/sensing/autoware_radar_static_pointcloud_filter/docs/radar_static_pointcloud_filter.drawio.svg
similarity index 100%
rename from sensing/radar_static_pointcloud_filter/docs/radar_static_pointcloud_filter.drawio.svg
rename to sensing/autoware_radar_static_pointcloud_filter/docs/radar_static_pointcloud_filter.drawio.svg
diff --git a/sensing/radar_static_pointcloud_filter/launch/radar_static_pointcloud_filter.launch.xml b/sensing/autoware_radar_static_pointcloud_filter/launch/radar_static_pointcloud_filter.launch.xml
similarity index 68%
rename from sensing/radar_static_pointcloud_filter/launch/radar_static_pointcloud_filter.launch.xml
rename to sensing/autoware_radar_static_pointcloud_filter/launch/radar_static_pointcloud_filter.launch.xml
index b9491227837c5..ec2a9d0f9af27 100644
--- a/sensing/radar_static_pointcloud_filter/launch/radar_static_pointcloud_filter.launch.xml
+++ b/sensing/autoware_radar_static_pointcloud_filter/launch/radar_static_pointcloud_filter.launch.xml
@@ -4,9 +4,9 @@
   <arg name="output/static_radar_scan" default="output/static_radar_scan"/>
   <arg name="output/dynamic_radar_scan" default="output/dynamic_radar_scan"/>
   <!-- Parameter -->
-  <arg name="config_file" default="$(find-pkg-share radar_static_pointcloud_filter)/config/radar_static_pointcloud_filter.param.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share autoware_radar_static_pointcloud_filter)/config/radar_static_pointcloud_filter.param.yaml"/>
 
-  <node pkg="radar_static_pointcloud_filter" exec="radar_static_pointcloud_filter_node" name="radar_static_pointcloud_filter" output="screen">
+  <node pkg="autoware_radar_static_pointcloud_filter" exec="radar_static_pointcloud_filter_node" name="radar_static_pointcloud_filter" output="screen">
     <remap from="~/input/radar" to="$(var input/radar)"/>
     <remap from="~/input/odometry" to="$(var input/odometry)"/>
     <remap from="~/output/static_radar_scan" to="$(var output/static_radar_scan)"/>
diff --git a/sensing/radar_static_pointcloud_filter/package.xml b/sensing/autoware_radar_static_pointcloud_filter/package.xml
similarity index 88%
rename from sensing/radar_static_pointcloud_filter/package.xml
rename to sensing/autoware_radar_static_pointcloud_filter/package.xml
index 45c706791535c..a8424be8f78eb 100644
--- a/sensing/radar_static_pointcloud_filter/package.xml
+++ b/sensing/autoware_radar_static_pointcloud_filter/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>radar_static_pointcloud_filter</name>
+  <name>autoware_radar_static_pointcloud_filter</name>
   <version>0.1.0</version>
-  <description>radar_static_pointcloud_filter</description>
+  <description>autoware_radar_static_pointcloud_filter</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/sensing/radar_static_pointcloud_filter/schema/radar_static_pointcloud_filter.schema.json b/sensing/autoware_radar_static_pointcloud_filter/schema/radar_static_pointcloud_filter.schema.json
similarity index 100%
rename from sensing/radar_static_pointcloud_filter/schema/radar_static_pointcloud_filter.schema.json
rename to sensing/autoware_radar_static_pointcloud_filter/schema/radar_static_pointcloud_filter.schema.json
diff --git a/sensing/radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node.cpp b/sensing/autoware_radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node.cpp
similarity index 100%
rename from sensing/radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node.cpp
rename to sensing/autoware_radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node.cpp
diff --git a/sensing/radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node.hpp b/sensing/autoware_radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node.hpp
similarity index 100%
rename from sensing/radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node.hpp
rename to sensing/autoware_radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node.hpp
diff --git a/sensing/radar_threshold_filter/CMakeLists.txt b/sensing/autoware_radar_threshold_filter/CMakeLists.txt
similarity index 95%
rename from sensing/radar_threshold_filter/CMakeLists.txt
rename to sensing/autoware_radar_threshold_filter/CMakeLists.txt
index 136b41cb3b37b..fa315876435f7 100644
--- a/sensing/radar_threshold_filter/CMakeLists.txt
+++ b/sensing/autoware_radar_threshold_filter/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(radar_threshold_filter)
+project(autoware_radar_threshold_filter)
 
 # Dependencies
 find_package(autoware_cmake REQUIRED)
diff --git a/sensing/radar_threshold_filter/README.md b/sensing/autoware_radar_threshold_filter/README.md
similarity index 97%
rename from sensing/radar_threshold_filter/README.md
rename to sensing/autoware_radar_threshold_filter/README.md
index 1273ae3ebe935..f53ff7119a8eb 100644
--- a/sensing/radar_threshold_filter/README.md
+++ b/sensing/autoware_radar_threshold_filter/README.md
@@ -44,5 +44,5 @@ Calculation cost is O(n). `n` is the number of radar return.
 ### How to launch
 
 ```sh
-ros2 launch radar_threshold_filter radar_threshold_filter.launch.xml
+ros2 launch autoware_radar_threshold_filter radar_threshold_filter.launch.xml
 ```
diff --git a/sensing/radar_threshold_filter/config/radar_threshold_filter.param.yaml b/sensing/autoware_radar_threshold_filter/config/radar_threshold_filter.param.yaml
similarity index 100%
rename from sensing/radar_threshold_filter/config/radar_threshold_filter.param.yaml
rename to sensing/autoware_radar_threshold_filter/config/radar_threshold_filter.param.yaml
diff --git a/sensing/radar_threshold_filter/launch/radar_threshold_filter.launch.xml b/sensing/autoware_radar_threshold_filter/launch/radar_threshold_filter.launch.xml
similarity index 55%
rename from sensing/radar_threshold_filter/launch/radar_threshold_filter.launch.xml
rename to sensing/autoware_radar_threshold_filter/launch/radar_threshold_filter.launch.xml
index 62a42f02d814b..f0b82306be10f 100644
--- a/sensing/radar_threshold_filter/launch/radar_threshold_filter.launch.xml
+++ b/sensing/autoware_radar_threshold_filter/launch/radar_threshold_filter.launch.xml
@@ -1,10 +1,10 @@
 <launch>
   <arg name="input/radar" default="input/radar"/>
   <arg name="output/radar" default="output/threshold_filtered_radar"/>
-  <arg name="config_file" default="$(find-pkg-share radar_threshold_filter)/config/radar_threshold_filter.param.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share autoware_radar_threshold_filter)/config/radar_threshold_filter.param.yaml"/>
 
   <!-- Node -->
-  <node pkg="radar_threshold_filter" exec="radar_threshold_filter_node" name="radar_threshold_filter" output="screen">
+  <node pkg="autoware_radar_threshold_filter" exec="radar_threshold_filter_node" name="radar_threshold_filter" output="screen">
     <remap from="~/input/radar" to="$(var input/radar)"/>
     <remap from="~/output/radar" to="$(var output/radar)"/>
     <param from="$(var config_file)"/>
diff --git a/sensing/radar_threshold_filter/package.xml b/sensing/autoware_radar_threshold_filter/package.xml
similarity index 89%
rename from sensing/radar_threshold_filter/package.xml
rename to sensing/autoware_radar_threshold_filter/package.xml
index 6b81f225db971..a141a81e51c52 100644
--- a/sensing/radar_threshold_filter/package.xml
+++ b/sensing/autoware_radar_threshold_filter/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>radar_threshold_filter</name>
+  <name>autoware_radar_threshold_filter</name>
   <version>0.1.0</version>
-  <description>radar_threshold_filter</description>
+  <description>autoware_radar_threshold_filter</description>
   <maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
diff --git a/sensing/radar_threshold_filter/src/radar_threshold_filter_node.cpp b/sensing/autoware_radar_threshold_filter/src/radar_threshold_filter_node.cpp
similarity index 100%
rename from sensing/radar_threshold_filter/src/radar_threshold_filter_node.cpp
rename to sensing/autoware_radar_threshold_filter/src/radar_threshold_filter_node.cpp
diff --git a/sensing/radar_threshold_filter/src/radar_threshold_filter_node.hpp b/sensing/autoware_radar_threshold_filter/src/radar_threshold_filter_node.hpp
similarity index 100%
rename from sensing/radar_threshold_filter/src/radar_threshold_filter_node.hpp
rename to sensing/autoware_radar_threshold_filter/src/radar_threshold_filter_node.hpp
diff --git a/sensing/radar_threshold_filter/test/radar_threshold_filter/test_radar_threshold_filter.cpp b/sensing/autoware_radar_threshold_filter/test/radar_threshold_filter/test_radar_threshold_filter.cpp
similarity index 100%
rename from sensing/radar_threshold_filter/test/radar_threshold_filter/test_radar_threshold_filter.cpp
rename to sensing/autoware_radar_threshold_filter/test/radar_threshold_filter/test_radar_threshold_filter.cpp
diff --git a/sensing/radar_threshold_filter/test/test_threshold_filter.cpp b/sensing/autoware_radar_threshold_filter/test/test_threshold_filter.cpp
similarity index 100%
rename from sensing/radar_threshold_filter/test/test_threshold_filter.cpp
rename to sensing/autoware_radar_threshold_filter/test/test_threshold_filter.cpp