diff --git a/aip_x2_gen2_launch/launch/gnss.launch.xml b/aip_x2_gen2_launch/launch/gnss.launch.xml
index 8ccd477c..7f9e5d3f 100644
--- a/aip_x2_gen2_launch/launch/gnss.launch.xml
+++ b/aip_x2_gen2_launch/launch/gnss.launch.xml
@@ -14,7 +14,7 @@
     </node>
 
     <!-- NavSatFix to MGRS Pose -->
-    <include file="$(find-pkg-share gnss_poser)/launch/gnss_poser.launch.xml">
+    <include file="$(find-pkg-share autoware_gnss_poser)/launch/gnss_poser.launch.xml">
       <arg name="input_topic_fix" value="septentrio/nav_sat_fix" />
       <arg name="input_topic_navpvt" value="septentrio/navpvt/unused" />
 
diff --git a/aip_x2_gen2_launch/launch/imu.launch.xml b/aip_x2_gen2_launch/launch/imu.launch.xml
index a2c0c80d..fd07632c 100644
--- a/aip_x2_gen2_launch/launch/imu.launch.xml
+++ b/aip_x2_gen2_launch/launch/imu.launch.xml
@@ -23,13 +23,13 @@
 
     <arg name="imu_raw_name" default="tamagawa/imu_raw"/>
     <arg name="imu_corrector_param_file" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/imu_corrector.param.yaml"/>
-    <include file="$(find-pkg-share imu_corrector)/launch/imu_corrector.launch.xml">
+    <include file="$(find-pkg-share autoware_imu_corrector)/launch/imu_corrector.launch.xml">
       <arg name="input_topic" value="$(var imu_raw_name)"/>
       <arg name="output_topic" value="imu_data"/>
       <arg name="param_file" value="$(var imu_corrector_param_file)"/>
     </include>
 
-    <include file="$(find-pkg-share imu_corrector)/launch/gyro_bias_estimator.launch.xml">
+    <include file="$(find-pkg-share autoware_imu_corrector)/launch/gyro_bias_estimator.launch.xml">
       <arg name="input_imu_raw" value="$(var imu_raw_name)"/>
       <arg name="input_odom" value="/localization/kinematic_state"/>
       <arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
diff --git a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
index d228e11c..181b32b3 100644
--- a/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
+++ b/aip_x2_gen2_launch/launch/nebula_node_container.launch.py
@@ -143,8 +143,8 @@ def str2vector(string):
     cropbox_parameters["max_z"] = vehicle_info["max_height_offset"]
 
     self_crop_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
         name="crop_box_filter_self",
         remappings=[
             ("input", "pointcloud_raw_ex"),
@@ -166,8 +166,8 @@ def str2vector(string):
     )
 
     right_mirror_crop_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
         name="crop_box_filter_mirror_right",
         remappings=[
             ("input", "self_cropped/pointcloud_ex"),
@@ -188,8 +188,8 @@ def str2vector(string):
     )
 
     left_mirror_crop_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
         name="crop_box_filter_mirror_left",
         remappings=[
             ("input", "right_mirror_cropped/pointcloud_ex"),
@@ -200,8 +200,8 @@ def str2vector(string):
     )
 
     undistort_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
         name="distortion_corrector_node",
         remappings=[
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
@@ -214,8 +214,8 @@ def str2vector(string):
     )
 
     ring_outlier_filter_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
         name="ring_outlier_filter",
         remappings=[
             ("input", "rectified/pointcloud_ex"),
@@ -225,8 +225,8 @@ def str2vector(string):
     )
 
     dual_return_filter_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::DualReturnOutlierFilterComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::DualReturnOutlierFilterComponent",
         name="dual_return_filter",
         remappings=[
             ("input", "rectified/pointcloud_ex"),
@@ -245,8 +245,8 @@ def str2vector(string):
 
     distance_range = str2vector(context.perform_substitution(LaunchConfiguration("distance_range")))
     blockage_diag_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::BlockageDiagComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::BlockageDiagComponent",
         name="blockage_return_diag",
         remappings=[
             ("input", "pointcloud_raw_ex"),
diff --git a/aip_x2_gen2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_gen2_launch/launch/pointcloud_preprocessor.launch.py
index ef03f232..0775e3a2 100644
--- a/aip_x2_gen2_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x2_gen2_launch/launch/pointcloud_preprocessor.launch.py
@@ -27,8 +27,8 @@
 def launch_setup(context, *args, **kwargs):
     # set concat filter as a component
     concat_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
         name="concatenate_data",
         remappings=[
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
diff --git a/aip_x2_gen2_launch/launch/radar.launch.xml b/aip_x2_gen2_launch/launch/radar.launch.xml
index 5fc16689..d793d8de 100644
--- a/aip_x2_gen2_launch/launch/radar.launch.xml
+++ b/aip_x2_gen2_launch/launch/radar.launch.xml
@@ -32,7 +32,7 @@
       </include>
 
 
-      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+      <include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
         <arg name="input/radar_objects" value="objects_raw"/>
         <arg name="input/odometry" value="/localization/kinematic_state"/>
         <arg name="output/radar_detected_objects" value="detected_objects"/>
@@ -62,7 +62,7 @@
         <arg name="configuration_sensor_port" value="42101"/>
       </include>
 
-      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+      <include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
         <arg name="input/radar_objects" value="objects_raw"/>
         <arg name="input/odometry" value="/localization/kinematic_state"/>
         <arg name="output/radar_detected_objects" value="detected_objects"/>
@@ -92,7 +92,7 @@
         <arg name="configuration_sensor_port" value="42101"/>
       </include>
 
-      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+      <include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
         <arg name="input/radar_objects" value="objects_raw"/>
         <arg name="input/odometry" value="/localization/kinematic_state"/>
         <arg name="output/radar_detected_objects" value="detected_objects"/>
@@ -122,7 +122,7 @@
         <arg name="configuration_sensor_port" value="42101"/>
       </include>
 
-      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+      <include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
         <arg name="input/radar_objects" value="objects_raw"/>
         <arg name="input/odometry" value="/localization/kinematic_state"/>
         <arg name="output/radar_detected_objects" value="detected_objects"/>
@@ -152,7 +152,7 @@
         <arg name="configuration_sensor_port" value="42101"/>
       </include>
 
-      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+      <include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
         <arg name="input/radar_objects" value="objects_raw"/>
         <arg name="input/odometry" value="/localization/kinematic_state"/>
         <arg name="output/radar_detected_objects" value="detected_objects"/>
@@ -182,7 +182,7 @@
         <arg name="configuration_sensor_port" value="42101"/>
       </include>
 
-      <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
+      <include file="$(find-pkg-share autoware_radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
         <arg name="input/radar_objects" value="objects_raw"/>
         <arg name="input/odometry" value="/localization/kinematic_state"/>
         <arg name="output/radar_detected_objects" value="detected_objects"/>
@@ -194,7 +194,7 @@
 
     <!-- merge radar objects -->
     <let name="merger_param_path" value="$(find-pkg-share aip_x2_gen2_launch)/config/simple_object_merger.param.yaml"/>
-    <node pkg="simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
+    <node pkg="autoware_simple_object_merger" exec="simple_object_merger_node" name="simple_object_merger" output="screen">
       <remap from="~/output/objects" to="detected_objects"/>
       <param from="$(var merger_param_path)"/>
     </node>
diff --git a/aip_x2_gen2_launch/launch/sensing.launch.xml b/aip_x2_gen2_launch/launch/sensing.launch.xml
index ec9adc0e..8000211f 100644
--- a/aip_x2_gen2_launch/launch/sensing.launch.xml
+++ b/aip_x2_gen2_launch/launch/sensing.launch.xml
@@ -30,7 +30,7 @@
     </include>
 
     <!-- Vehicle twist -->
-    <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
+    <include file="$(find-pkg-share autoware_vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
       <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
       <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
       <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2_gen2/vehicle_velocity_converter.param.yaml" />
diff --git a/aip_x2_gen2_launch/package.xml b/aip_x2_gen2_launch/package.xml
index 2743c6a8..12b96ff0 100644
--- a/aip_x2_gen2_launch/package.xml
+++ b/aip_x2_gen2_launch/package.xml
@@ -12,15 +12,15 @@
 
   <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>dummy_diag_publisher</exec_depend>
-  <exec_depend>gnss_poser</exec_depend>
-  <exec_depend>imu_corrector</exec_depend>
-  <exec_depend>pointcloud_preprocessor</exec_depend>
+  <exec_depend>autoware_gnss_poser</exec_depend>
+  <exec_depend>autoware_imu_corrector</exec_depend>
+  <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>septentrio_gnss_driver</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>ublox_gps</exec_depend>
   <exec_depend>usb_cam</exec_depend>
-  <exec_depend>vehicle_velocity_converter</exec_depend>
+  <exec_depend>autoware_vehicle_velocity_converter</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>