diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 6333b479b5696..6cdc4cfd170bc 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -101,7 +101,7 @@ localization/yabloc/yabloc_particle_filter/** anh.nguyen.2@tier4.jp kento.yabuuc
 localization/yabloc/yabloc_pose_initializer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 map/map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 map/map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
-map/map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
+map/autoware_map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 map/autoware_map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 map/util/lanelet2_map_preprocessor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 perception/autoware_bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp
diff --git a/launch/tier4_map_launch/launch/map.launch.xml b/launch/tier4_map_launch/launch/map.launch.xml
index c58c0848eb5b3..9562d209aad5f 100644
--- a/launch/tier4_map_launch/launch/map.launch.xml
+++ b/launch/tier4_map_launch/launch/map.launch.xml
@@ -59,7 +59,7 @@
       <param name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
     </node>
 
-    <include file="$(find-pkg-share map_projection_loader)/launch/map_projection_loader.launch.xml">
+    <include file="$(find-pkg-share autoware_map_projection_loader)/launch/map_projection_loader.launch.xml">
       <arg name="param_path" value="$(var map_projection_loader_param_path)"/>
       <arg name="map_projector_info_path" value="$(var map_projector_info_path)"/>
       <arg name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml
index b364d8eaffebc..76ff341b56cf9 100644
--- a/launch/tier4_map_launch/package.xml
+++ b/launch/tier4_map_launch/package.xml
@@ -18,9 +18,9 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <exec_depend>autoware_map_projection_loader</exec_depend>
   <exec_depend>autoware_map_tf_generator</exec_depend>
   <exec_depend>map_loader</exec_depend>
-  <exec_depend>map_projection_loader</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/map/map_projection_loader/CMakeLists.txt b/map/autoware_map_projection_loader/CMakeLists.txt
similarity index 93%
rename from map/map_projection_loader/CMakeLists.txt
rename to map/autoware_map_projection_loader/CMakeLists.txt
index 87f519ab22572..19c5a98ec8b46 100644
--- a/map/map_projection_loader/CMakeLists.txt
+++ b/map/autoware_map_projection_loader/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(map_projection_loader)
+project(autoware_map_projection_loader)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -12,7 +12,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "MapProjectionLoader"
+  PLUGIN "autoware::map_projection_loader::MapProjectionLoader"
   EXECUTABLE ${PROJECT_NAME}_node
   EXECUTOR SingleThreadedExecutor
 )
diff --git a/map/map_projection_loader/README.md b/map/autoware_map_projection_loader/README.md
similarity index 90%
rename from map/map_projection_loader/README.md
rename to map/autoware_map_projection_loader/README.md
index aa620256d977b..11246c092231e 100644
--- a/map/map_projection_loader/README.md
+++ b/map/autoware_map_projection_loader/README.md
@@ -1,8 +1,8 @@
-# map_projection_loader
+# autoware_map_projection_loader
 
 ## Feature
 
-`map_projection_loader` is responsible for publishing `map_projector_info` that defines in which kind of coordinate Autoware is operating.
+`autoware_map_projection_loader` is responsible for publishing `map_projector_info` that defines in which kind of coordinate Autoware is operating.
 This is necessary information especially when you want to convert from global (geoid) to local coordinate or the other way around.
 
 - If `map_projector_info_path` DOES exist, this node loads it and publishes the map projection information accordingly.
@@ -92,4 +92,4 @@ map_origin:
 
 Note that these parameters are assumed to be passed from launch arguments, and it is not recommended to directly write them in `map_projection_loader.param.yaml`.
 
-{{ json_to_markdown("map/map_projection_loader/schema/map_projection_loader.schema.json") }}
+{{ json_to_markdown("map/autoware_map_projection_loader/schema/map_projection_loader.schema.json") }}
diff --git a/map/map_projection_loader/config/map_projection_loader.param.yaml b/map/autoware_map_projection_loader/config/map_projection_loader.param.yaml
similarity index 100%
rename from map/map_projection_loader/config/map_projection_loader.param.yaml
rename to map/autoware_map_projection_loader/config/map_projection_loader.param.yaml
diff --git a/map/map_projection_loader/docs/map_projector_type.svg b/map/autoware_map_projection_loader/docs/map_projector_type.svg
similarity index 100%
rename from map/map_projection_loader/docs/map_projector_type.svg
rename to map/autoware_map_projection_loader/docs/map_projector_type.svg
diff --git a/map/map_projection_loader/include/map_projection_loader/load_info_from_lanelet2_map.hpp b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp
similarity index 76%
rename from map/map_projection_loader/include/map_projection_loader/load_info_from_lanelet2_map.hpp
rename to map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp
index 750b90fe495bd..2f1db14529ad0 100644
--- a/map/map_projection_loader/include/map_projection_loader/load_info_from_lanelet2_map.hpp
+++ b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_
-#define MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_
+#ifndef AUTOWARE__MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_
+#define AUTOWARE__MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_
 
 #include <autoware_lanelet2_extension/io/autoware_osm_parser.hpp>
 #include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
@@ -24,6 +24,9 @@
 
 #include <string>
 
+namespace autoware::map_projection_loader
+{
 tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename);
+}  // namespace autoware::map_projection_loader
 
-#endif  // MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_
+#endif  // AUTOWARE__MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_
diff --git a/map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp
similarity index 80%
rename from map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp
rename to map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp
index 05bc6e64e1675..feb7483f37811 100644
--- a/map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp
+++ b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_
-#define MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_
+#ifndef AUTOWARE__MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_
+#define AUTOWARE__MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -22,6 +22,8 @@
 
 #include <string>
 
+namespace autoware::map_projection_loader
+{
 tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename);
 tier4_map_msgs::msg::MapProjectorInfo load_map_projector_info(
   const std::string & yaml_filename, const std::string & lanelet2_map_filename);
@@ -35,5 +37,6 @@ class MapProjectionLoader : public rclcpp::Node
   using MapProjectorInfo = map_interface::MapProjectorInfo;
   component_interface_utils::Publisher<MapProjectorInfo>::SharedPtr publisher_;
 };
+}  // namespace autoware::map_projection_loader
 
-#endif  // MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_
+#endif  // AUTOWARE__MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_
diff --git a/map/map_projection_loader/launch/map_projection_loader.launch.xml b/map/autoware_map_projection_loader/launch/map_projection_loader.launch.xml
similarity index 51%
rename from map/map_projection_loader/launch/map_projection_loader.launch.xml
rename to map/autoware_map_projection_loader/launch/map_projection_loader.launch.xml
index 13418a7e97423..224598e23d048 100644
--- a/map/map_projection_loader/launch/map_projection_loader.launch.xml
+++ b/map/autoware_map_projection_loader/launch/map_projection_loader.launch.xml
@@ -1,10 +1,10 @@
 <launch>
-  <arg name="param_path" default="$(find-pkg-share map_projection_loader)/config/map_projection_loader.param.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share autoware_map_projection_loader)/config/map_projection_loader.param.yaml"/>
 
   <arg name="map_projector_info_path" description="Path to the yaml file"/>
   <arg name="lanelet2_map_path" description="Path to the lanelet2 map file"/>
 
-  <node pkg="map_projection_loader" exec="map_projection_loader_node" output="both">
+  <node pkg="autoware_map_projection_loader" exec="autoware_map_projection_loader_node" output="both">
     <param from="$(var param_path)" allow_substs="true"/>
   </node>
 </launch>
diff --git a/map/map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml
similarity index 91%
rename from map/map_projection_loader/package.xml
rename to map/autoware_map_projection_loader/package.xml
index c36c22c29a0fd..ca25cbf728d26 100644
--- a/map/map_projection_loader/package.xml
+++ b/map/autoware_map_projection_loader/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>map_projection_loader</name>
+  <name>autoware_map_projection_loader</name>
   <version>0.1.0</version>
-  <description>map_projection_loader package as a ROS 2 node</description>
+  <description>autoware_map_projection_loader package as a ROS 2 node</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
   <maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
   <maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
diff --git a/map/map_projection_loader/schema/map_projection_loader.schema.json b/map/autoware_map_projection_loader/schema/map_projection_loader.schema.json
similarity index 100%
rename from map/map_projection_loader/schema/map_projection_loader.schema.json
rename to map/autoware_map_projection_loader/schema/map_projection_loader.schema.json
diff --git a/map/map_projection_loader/src/load_info_from_lanelet2_map.cpp b/map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp
similarity index 93%
rename from map/map_projection_loader/src/load_info_from_lanelet2_map.cpp
rename to map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp
index 18306e8d39e25..ce4cda5c2c677 100644
--- a/map/map_projection_loader/src/load_info_from_lanelet2_map.cpp
+++ b/map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "map_projection_loader/load_info_from_lanelet2_map.hpp"
+#include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp"
 
 #include "tier4_map_msgs/msg/map_projector_info.hpp"
 
@@ -23,6 +23,8 @@
 
 #include <string>
 
+namespace autoware::map_projection_loader
+{
 tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename)
 {
   lanelet::ErrorMessages errors{};
@@ -58,3 +60,4 @@ tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::str
   msg.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84;
   return msg;
 }
+}  // namespace autoware::map_projection_loader
diff --git a/map/map_projection_loader/src/map_projection_loader.cpp b/map/autoware_map_projection_loader/src/map_projection_loader.cpp
similarity index 91%
rename from map/map_projection_loader/src/map_projection_loader.cpp
rename to map/autoware_map_projection_loader/src/map_projection_loader.cpp
index e5b95b613b0d1..18ad425c1fd9a 100644
--- a/map/map_projection_loader/src/map_projection_loader.cpp
+++ b/map/autoware_map_projection_loader/src/map_projection_loader.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "map_projection_loader/map_projection_loader.hpp"
+#include "autoware/map_projection_loader/map_projection_loader.hpp"
 
-#include "map_projection_loader/load_info_from_lanelet2_map.hpp"
+#include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp"
 
 #include <tier4_map_msgs/msg/map_projector_info.hpp>
 
@@ -23,6 +23,8 @@
 #include <filesystem>
 #include <fstream>
 
+namespace autoware::map_projection_loader
+{
 tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename)
 {
   YAML::Node data = YAML::LoadFile(filename);
@@ -93,6 +95,7 @@ MapProjectionLoader::MapProjectionLoader(const rclcpp::NodeOptions & options)
   adaptor.init_pub(publisher_);
   publisher_->publish(msg);
 }
+}  // namespace autoware::map_projection_loader
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(MapProjectionLoader)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::map_projection_loader::MapProjectionLoader)
diff --git a/map/map_projection_loader/test/data/map_projector_info_local.yaml b/map/autoware_map_projection_loader/test/data/map_projector_info_local.yaml
similarity index 100%
rename from map/map_projection_loader/test/data/map_projector_info_local.yaml
rename to map/autoware_map_projection_loader/test/data/map_projector_info_local.yaml
diff --git a/map/map_projection_loader/test/data/map_projector_info_local_cartesian_utm.yaml b/map/autoware_map_projection_loader/test/data/map_projector_info_local_cartesian_utm.yaml
similarity index 100%
rename from map/map_projection_loader/test/data/map_projector_info_local_cartesian_utm.yaml
rename to map/autoware_map_projection_loader/test/data/map_projector_info_local_cartesian_utm.yaml
diff --git a/map/map_projection_loader/test/data/map_projector_info_mgrs.yaml b/map/autoware_map_projection_loader/test/data/map_projector_info_mgrs.yaml
similarity index 100%
rename from map/map_projection_loader/test/data/map_projector_info_mgrs.yaml
rename to map/autoware_map_projection_loader/test/data/map_projector_info_mgrs.yaml
diff --git a/map/map_projection_loader/test/data/map_projector_info_transverse_mercator.yaml b/map/autoware_map_projection_loader/test/data/map_projector_info_transverse_mercator.yaml
similarity index 100%
rename from map/map_projection_loader/test/data/map_projector_info_transverse_mercator.yaml
rename to map/autoware_map_projection_loader/test/data/map_projector_info_transverse_mercator.yaml
diff --git a/map/map_projection_loader/test/test_load_info_from_lanelet2_map.cpp b/map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp
similarity index 90%
rename from map/map_projection_loader/test/test_load_info_from_lanelet2_map.cpp
rename to map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp
index 7d66388c1a91e..26658e88682a2 100644
--- a/map/map_projection_loader/test/test_load_info_from_lanelet2_map.cpp
+++ b/map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "map_projection_loader/load_info_from_lanelet2_map.hpp"
+#include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp"
 
 #include <GeographicLib/MGRS.hpp>
 #include <GeographicLib/UTMUPS.hpp>
@@ -92,7 +92,8 @@ TEST(TestLoadFromLanelet2Map, LoadMGRSGrid)
   save_dummy_mgrs_lanelet2_map(mgrs_coord, output_path);
 
   // Test the function
-  const auto projector_info = load_info_from_lanelet2_map(output_path);
+  const auto projector_info =
+    autoware::map_projection_loader::load_info_from_lanelet2_map(output_path);
 
   // Check the result
   EXPECT_EQ(projector_info.projector_type, "MGRS");
@@ -106,7 +107,8 @@ TEST(TestLoadFromLanelet2Map, LoadLocalGrid)
   save_dummy_local_lanelet2_map(output_path);
 
   // Test the function
-  const auto projector_info = load_info_from_lanelet2_map(output_path);
+  const auto projector_info =
+    autoware::map_projection_loader::load_info_from_lanelet2_map(output_path);
 
   // Check the result
   EXPECT_EQ(projector_info.projector_type, "local");
@@ -119,7 +121,8 @@ TEST(TestLoadFromLanelet2Map, LoadNoLocalGrid)
   save_dummy_mgrs_lanelet2_map_with_one_zero_point(output_path);
 
   // Test the function
-  const auto projector_info = load_info_from_lanelet2_map(output_path);
+  const auto projector_info =
+    autoware::map_projection_loader::load_info_from_lanelet2_map(output_path);
 
   // Check the result
   EXPECT_EQ(projector_info.projector_type, "MGRS");
diff --git a/map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py
similarity index 94%
rename from map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py
rename to map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py
index 0d0b5cb31afba..495f0092bb01f 100644
--- a/map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py
+++ b/map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py
@@ -39,12 +39,12 @@
 @pytest.mark.launch_test
 def generate_test_description():
     map_projector_info_path = os.path.join(
-        get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
+        get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH
     )
 
     map_projection_loader_node = Node(
-        package="map_projection_loader",
-        executable="map_projection_loader_node",
+        package="autoware_map_projection_loader",
+        executable="autoware_map_projection_loader_node",
         output="screen",
         parameters=[
             {
@@ -122,7 +122,7 @@ def test_node_link(self):
 
         # Load the yaml file directly
         map_projector_info_path = os.path.join(
-            get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
+            get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH
         )
         with open(map_projector_info_path) as f:
             yaml_data = yaml.load(f, Loader=yaml.FullLoader)
diff --git a/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py
similarity index 93%
rename from map/map_projection_loader/test/test_node_load_local_from_yaml.test.py
rename to map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py
index 6a17ff340b19f..8517f09e2006b 100644
--- a/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py
+++ b/map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py
@@ -39,12 +39,12 @@
 @pytest.mark.launch_test
 def generate_test_description():
     map_projector_info_path = os.path.join(
-        get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
+        get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH
     )
 
     map_projection_loader_node = Node(
-        package="map_projection_loader",
-        executable="map_projection_loader_node",
+        package="autoware_map_projection_loader",
+        executable="autoware_map_projection_loader_node",
         output="screen",
         parameters=[
             {
@@ -122,7 +122,7 @@ def test_node_link(self):
 
         # Load the yaml file directly
         map_projector_info_path = os.path.join(
-            get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
+            get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH
         )
         with open(map_projector_info_path) as f:
             yaml_data = yaml.load(f, Loader=yaml.FullLoader)
diff --git a/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py
similarity index 93%
rename from map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py
rename to map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py
index 37cfd9936bf20..ad19e61f9f111 100644
--- a/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py
+++ b/map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py
@@ -39,12 +39,12 @@
 @pytest.mark.launch_test
 def generate_test_description():
     map_projector_info_path = os.path.join(
-        get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
+        get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH
     )
 
     map_projection_loader_node = Node(
-        package="map_projection_loader",
-        executable="map_projection_loader_node",
+        package="autoware_map_projection_loader",
+        executable="autoware_map_projection_loader_node",
         output="screen",
         parameters=[
             {
@@ -122,7 +122,7 @@ def test_node_link(self):
 
         # Load the yaml file directly
         map_projector_info_path = os.path.join(
-            get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
+            get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH
         )
         with open(map_projector_info_path) as f:
             yaml_data = yaml.load(f, Loader=yaml.FullLoader)
diff --git a/map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py
similarity index 94%
rename from map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py
rename to map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py
index 7bccdc7875454..ed2eb45535089 100644
--- a/map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py
+++ b/map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py
@@ -39,12 +39,12 @@
 @pytest.mark.launch_test
 def generate_test_description():
     map_projector_info_path = os.path.join(
-        get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
+        get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH
     )
 
     map_projection_loader_node = Node(
-        package="map_projection_loader",
-        executable="map_projection_loader_node",
+        package="autoware_map_projection_loader",
+        executable="autoware_map_projection_loader_node",
         output="screen",
         parameters=[
             {
@@ -122,7 +122,7 @@ def test_node_link(self):
 
         # Load the yaml file directly
         map_projector_info_path = os.path.join(
-            get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
+            get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH
         )
         with open(map_projector_info_path) as f:
             yaml_data = yaml.load(f, Loader=yaml.FullLoader)
diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml
index 2480c4bd02753..931b815b176c3 100644
--- a/planning/autoware_static_centerline_generator/package.xml
+++ b/planning/autoware_static_centerline_generator/package.xml
@@ -19,6 +19,7 @@
   <depend>autoware_geography_utils</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
+  <depend>autoware_map_projection_loader</depend>
   <depend>autoware_mission_planner</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_path_optimizer</depend>
@@ -32,7 +33,6 @@
   <depend>global_parameter_loader</depend>
   <depend>interpolation</depend>
   <depend>map_loader</depend>
-  <depend>map_projection_loader</depend>
   <depend>osqp_interface</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp
index e9958b74059a5..0088b8e2307b5 100644
--- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp
+++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp
@@ -14,6 +14,8 @@
 
 #include "static_centerline_generator_node.hpp"
 
+#include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp"
+#include "autoware/map_projection_loader/map_projection_loader.hpp"
 #include "autoware/motion_utils/resample/resample.hpp"
 #include "autoware/motion_utils/trajectory/conversion.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
@@ -25,8 +27,6 @@
 #include "centerline_source/bag_ego_trajectory_based_centerline.hpp"
 #include "interpolation/spline_interpolation_points_2d.hpp"
 #include "map_loader/lanelet2_map_loader_node.hpp"
-#include "map_projection_loader/load_info_from_lanelet2_map.hpp"
-#include "map_projection_loader/map_projection_loader.hpp"
 #include "type_alias.hpp"
 #include "utils.hpp"
 
@@ -370,8 +370,8 @@ void StaticCenterlineGeneratorNode::load_map(const std::string & lanelet2_input_
   // load map by the map_loader package
   map_bin_ptr_ = [&]() -> LaneletMapBin::ConstSharedPtr {
     // load map
-    map_projector_info_ =
-      std::make_unique<MapProjectorInfo>(load_info_from_lanelet2_map(lanelet2_input_file_path));
+    map_projector_info_ = std::make_unique<MapProjectorInfo>(
+      autoware::map_projection_loader::load_info_from_lanelet2_map(lanelet2_input_file_path));
     const auto map_ptr =
       Lanelet2MapLoaderNode::load_map(lanelet2_input_file_path, *map_projector_info_);
     if (!map_ptr) {