diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 42627e0671475..7e76a883c36e9 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -204,7 +204,7 @@ simulator/autoware_carla_interface/** maxime.clement@tier4.jp mradityagio@gmail.
 simulator/dummy_perception_publisher/** yukihiro.saito@tier4.jp
 simulator/fault_injection/** keisuke.shima@tier4.jp
 simulator/learning_based_vehicle_model/** maxime.clement@tier4.jp nagy.tomas@tier4.jp
-simulator/simple_planning_simulator/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp kotaro.yoshimoto@tier4.jp
+simulator/autoware_simple_planning_simulator/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp kotaro.yoshimoto@tier4.jp junya.sasaki@tier4.jp
 simulator/tier4_dummy_object_rviz_plugin/** yukihiro.saito@tier4.jp
 simulator/autoware_vehicle_door_simulator/** isamu.takagi@tier4.jp junya.sasaki@tier4.jp
 system/autoware_component_monitor/** baris@leodrive.ai memin@leodrive.ai yavuz@leodrive.ai
diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml
index fa457a31f8c43..1255061a474db 100644
--- a/launch/tier4_simulator_launch/launch/simulator.launch.xml
+++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml
@@ -219,7 +219,7 @@
     <!-- 'pose_only' mode publishes the pose topic as an alternative to ndt_localizer. 'full_motion' mode publishes the odometry and acceleration topics as an alternative to localization modules. -->
     <let name="motion_publish_mode" value="pose_only" if="$(eval '&quot;$(var localization_sim_mode)&quot;==&quot;pose_twist_estimator&quot;')"/>
     <let name="motion_publish_mode" value="full_motion" unless="$(eval '&quot;$(var localization_sim_mode)&quot;==&quot;pose_twist_estimator&quot;')"/>
-    <include file="$(find-pkg-share simple_planning_simulator)/launch/simple_planning_simulator.launch.py">
+    <include file="$(find-pkg-share autoware_simple_planning_simulator)/launch/simple_planning_simulator.launch.py">
       <arg name="vehicle_info_param_file" value="$(var vehicle_info_param_file)"/>
       <arg name="simulator_model_param_file" value="$(var simulator_model)"/>
       <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
diff --git a/launch/tier4_simulator_launch/package.xml b/launch/tier4_simulator_launch/package.xml
index fba24d0a5d525..f12209f4ab3ef 100644
--- a/launch/tier4_simulator_launch/package.xml
+++ b/launch/tier4_simulator_launch/package.xml
@@ -15,8 +15,8 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <exec_depend>autoware_fault_injection</exec_depend>
+  <exec_depend>autoware_simple_planning_simulator</exec_depend>
   <exec_depend>dummy_perception_publisher</exec_depend>
-  <exec_depend>simple_planning_simulator</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/simulator/simple_planning_simulator/CHANGELOG.rst b/simulator/autoware_simple_planning_simulator/CHANGELOG.rst
similarity index 100%
rename from simulator/simple_planning_simulator/CHANGELOG.rst
rename to simulator/autoware_simple_planning_simulator/CHANGELOG.rst
diff --git a/simulator/simple_planning_simulator/CMakeLists.txt b/simulator/autoware_simple_planning_simulator/CMakeLists.txt
similarity index 85%
rename from simulator/simple_planning_simulator/CMakeLists.txt
rename to simulator/autoware_simple_planning_simulator/CMakeLists.txt
index 6acb74342c90f..ab4ac8218e193 100644
--- a/simulator/simple_planning_simulator/CMakeLists.txt
+++ b/simulator/autoware_simple_planning_simulator/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(simple_planning_simulator)
+project(autoware_simple_planning_simulator)
 
 find_package(autoware_cmake REQUIRED)
 find_package(Python3 COMPONENTS Interpreter Development)
@@ -8,8 +8,8 @@ autoware_package()
 
 # Component
 ament_auto_add_library(${PROJECT_NAME} SHARED
-  include/simple_planning_simulator/simple_planning_simulator_core.hpp
-  include/simple_planning_simulator/visibility_control.hpp
+  include/autoware/simple_planning_simulator/simple_planning_simulator_core.hpp
+  include/autoware/simple_planning_simulator/visibility_control.hpp
   src/simple_planning_simulator/simple_planning_simulator_core.cpp
   src/simple_planning_simulator/vehicle_model/sim_model_interface.cpp
   src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.cpp
@@ -28,8 +28,8 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 target_include_directories(${PROJECT_NAME} PUBLIC ${Python3_INCLUDE_DIRS} ${learning_based_vehicle_model_INCLUDE_DIRS})
 # Node executable
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "simulation::simple_planning_simulator::SimplePlanningSimulator"
-  EXECUTABLE ${PROJECT_NAME}_exe
+  PLUGIN "autoware::simulator::simple_planning_simulator::SimplePlanningSimulator"
+  EXECUTABLE ${PROJECT_NAME}_node
 )
 
 if(BUILD_TESTING)
diff --git a/simulator/simple_planning_simulator/README.md b/simulator/autoware_simple_planning_simulator/README.md
similarity index 99%
rename from simulator/simple_planning_simulator/README.md
rename to simulator/autoware_simple_planning_simulator/README.md
index cd362c0115358..385f4aa1c7eab 100644
--- a/simulator/simple_planning_simulator/README.md
+++ b/simulator/autoware_simple_planning_simulator/README.md
@@ -1,4 +1,4 @@
-# simple_planning_simulator
+# autoware_simple_planning_simulator
 
 ## Purpose / Use cases
 
diff --git a/simulator/simple_planning_simulator/data/actuation_cmd_map/accel_map.csv b/simulator/autoware_simple_planning_simulator/data/actuation_cmd_map/accel_map.csv
similarity index 100%
rename from simulator/simple_planning_simulator/data/actuation_cmd_map/accel_map.csv
rename to simulator/autoware_simple_planning_simulator/data/actuation_cmd_map/accel_map.csv
diff --git a/simulator/simple_planning_simulator/data/actuation_cmd_map/brake_map.csv b/simulator/autoware_simple_planning_simulator/data/actuation_cmd_map/brake_map.csv
similarity index 100%
rename from simulator/simple_planning_simulator/data/actuation_cmd_map/brake_map.csv
rename to simulator/autoware_simple_planning_simulator/data/actuation_cmd_map/brake_map.csv
diff --git a/simulator/simple_planning_simulator/data/actuation_cmd_map/steer_map.csv b/simulator/autoware_simple_planning_simulator/data/actuation_cmd_map/steer_map.csv
similarity index 100%
rename from simulator/simple_planning_simulator/data/actuation_cmd_map/steer_map.csv
rename to simulator/autoware_simple_planning_simulator/data/actuation_cmd_map/steer_map.csv
diff --git a/simulator/simple_planning_simulator/docs/actuation_cmd_sim.md b/simulator/autoware_simple_planning_simulator/docs/actuation_cmd_sim.md
similarity index 100%
rename from simulator/simple_planning_simulator/docs/actuation_cmd_sim.md
rename to simulator/autoware_simple_planning_simulator/docs/actuation_cmd_sim.md
diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/simple_planning_simulator_core.hpp
similarity index 96%
rename from simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp
rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/simple_planning_simulator_core.hpp
index 3e54bca245f82..26a849dddc278 100644
--- a/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp
+++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/simple_planning_simulator_core.hpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__SIMPLE_PLANNING_SIMULATOR_CORE_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__SIMPLE_PLANNING_SIMULATOR_CORE_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__SIMPLE_PLANNING_SIMULATOR_CORE_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__SIMPLE_PLANNING_SIMULATOR_CORE_HPP_
 
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
+#include "autoware/simple_planning_simulator/visibility_control.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
-#include "simple_planning_simulator/visibility_control.hpp"
 #include "tier4_api_utils/tier4_api_utils.hpp"
 
 #include "autoware_control_msgs/msg/control.hpp"
@@ -57,9 +57,7 @@
 #include <variant>
 #include <vector>
 
-namespace simulation
-{
-namespace simple_planning_simulator
+namespace autoware::simulator::simple_planning_simulator
 {
 
 using autoware_control_msgs::msg::Control;
@@ -406,7 +404,6 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
    */
   void publish_tf(const Odometry & odometry);
 };
-}  // namespace simple_planning_simulator
-}  // namespace simulation
+}  // namespace autoware::simulator::simple_planning_simulator
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__SIMPLE_PLANNING_SIMULATOR_CORE_HPP_
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__SIMPLE_PLANNING_SIMULATOR_CORE_HPP_
diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/utils/csv_loader.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/utils/csv_loader.hpp
similarity index 78%
rename from simulator/simple_planning_simulator/include/simple_planning_simulator/utils/csv_loader.hpp
rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/utils/csv_loader.hpp
index a8851640fb62b..2965327beaacc 100644
--- a/simulator/simple_planning_simulator/include/simple_planning_simulator/utils/csv_loader.hpp
+++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/utils/csv_loader.hpp
@@ -1,4 +1,4 @@
-// Copyright 2023 Autoware Foundation
+// Copyright 2025 Autoware Foundation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__UTILS__CSV_LOADER_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__UTILS__CSV_LOADER_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__UTILS__CSV_LOADER_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__UTILS__CSV_LOADER_HPP_
 
 #include <fstream>
 #include <iostream>
@@ -21,6 +21,9 @@
 #include <string>
 #include <vector>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 using Table = std::vector<std::vector<std::string>>;
 using Map = std::vector<std::vector<double>>;
 class CSVLoader
@@ -40,4 +43,6 @@ class CSVLoader
   std::string csv_path_;
 };
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__UTILS__CSV_LOADER_HPP_
+}  // namespace autoware::simulator::simple_planning_simulator
+
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__UTILS__CSV_LOADER_HPP_
diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/utils/mechanical_controller.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/utils/mechanical_controller.hpp
similarity index 92%
rename from simulator/simple_planning_simulator/include/simple_planning_simulator/utils/mechanical_controller.hpp
rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/utils/mechanical_controller.hpp
index fcb8d41dd72b5..7850d74d45036 100644
--- a/simulator/simple_planning_simulator/include/simple_planning_simulator/utils/mechanical_controller.hpp
+++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/utils/mechanical_controller.hpp
@@ -1,4 +1,4 @@
-// Copyright 2024 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_
 
 #include <deque>
 #include <map>
@@ -21,7 +21,7 @@
 #include <string>
 #include <utility>
 
-namespace autoware::simple_planning_simulator::utils::mechanical_controller
+namespace autoware::simulator::simple_planning_simulator
 {
 
 using DelayBuffer = std::deque<std::pair<double, double>>;
@@ -203,6 +203,6 @@ class MechanicalController
     const SteeringDynamics & dynamics) const;
 };
 
-}  // namespace autoware::simple_planning_simulator::utils::mechanical_controller
+}  // namespace autoware::simulator::simple_planning_simulator
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__UTILS__MECHANICAL_CONTROLLER_HPP_
diff --git a/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model.hpp
new file mode 100644
index 0000000000000..d7ee90fdf5634
--- /dev/null
+++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model.hpp
@@ -0,0 +1,30 @@
+// Copyright 2025 The Autoware Foundation.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_HPP_
+
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp"
+
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_HPP_
diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp
similarity index 94%
rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp
rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp
index 25fac72d283ee..edb52570b0a19 100644
--- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp
+++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp
@@ -1,4 +1,4 @@
-// Copyright 2024 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_
 
 #include "autoware/interpolation/linear_interpolation.hpp"
+#include "autoware/simple_planning_simulator/utils/csv_loader.hpp"
+#include "autoware/simple_planning_simulator/utils/mechanical_controller.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
 #include "eigen3/Eigen/Core"
 #include "eigen3/Eigen/LU"
-#include "simple_planning_simulator/utils/csv_loader.hpp"
-#include "simple_planning_simulator/utils/mechanical_controller.hpp"
-#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
 
 #include <deque>
 #include <iostream>
@@ -30,8 +30,11 @@
 #include <string>
 #include <vector>
 
-using autoware::simple_planning_simulator::utils::mechanical_controller::MechanicalController;
-using autoware::simple_planning_simulator::utils::mechanical_controller::MechanicalParams;
+namespace autoware::simulator::simple_planning_simulator
+{
+
+using autoware::simulator::simple_planning_simulator::MechanicalController;
+using autoware::simulator::simple_planning_simulator::MechanicalParams;
 
 /**
  * @class ActuationMap
@@ -397,4 +400,6 @@ class SimModelActuationCmdMechanical : public SimModelActuationCmdVGR
   double prev_steer_tire_des_{0.0};  //
 };
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_
+}  // namespace autoware::simulator::simple_planning_simulator
+
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_
diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp
similarity index 90%
rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp
rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp
index f43abd8572874..6437cdc4cdbcb 100644
--- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp
+++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_
 
-#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/LU>
@@ -24,6 +24,9 @@
 #include <iostream>
 #include <queue>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 class SimModelDelaySteerAcc : public SimModelInterface
 {
 public:
@@ -149,4 +152,6 @@ class SimModelDelaySteerAcc : public SimModelInterface
   Eigen::VectorXd calcModel(const Eigen::VectorXd & state, const Eigen::VectorXd & input) override;
 };
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_
+}  // namespace autoware::simulator::simple_planning_simulator
+
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_HPP_
diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp
similarity index 89%
rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp
rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp
index 1ecb74be41780..d43c86669f2bf 100644
--- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp
+++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_  // NOLINT
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_  // NOLINT
 
-#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/LU>
@@ -24,6 +24,9 @@
 #include <iostream>
 #include <queue>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 class SimModelDelaySteerAccGeared : public SimModelInterface
 {
 public:
@@ -160,4 +163,7 @@ class SimModelDelaySteerAccGeared : public SimModelInterface
     const double dt);
 };
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_
+}  // namespace autoware::simulator::simple_planning_simulator
+
+// NOLINTNEXTLINE
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_HPP_
diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp
similarity index 88%
rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp
rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp
index 83f574554fe76..300e82b6facb1 100644
--- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp
+++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp
@@ -1,4 +1,4 @@
-// Copyright 2024 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_  // NOLINT
-#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_  // NOLINT
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_  // NOLINT
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_  // NOLINT
 
-#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/LU>
@@ -24,6 +24,9 @@
 #include <iostream>
 #include <queue>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 class SimModelDelaySteerAccGearedWoFallGuard : public SimModelInterface
 {
 public:
@@ -145,6 +148,7 @@ class SimModelDelaySteerAccGearedWoFallGuard : public SimModelInterface
   Eigen::VectorXd calcModel(const Eigen::VectorXd & state, const Eigen::VectorXd & input) override;
 };
 
-// clang-format off
-#endif  // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_  // NOLINT
-// clang-format on
+}  // namespace autoware::simulator::simple_planning_simulator
+
+// NOLINTNEXTLINE
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_ACC_GEARED_WO_FALL_GUARD_HPP_
diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp
similarity index 90%
rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp
rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp
index 381b6ae9da4e2..6b7323db2d9fb 100644
--- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp
+++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp
@@ -1,4 +1,4 @@
-// Copyright 2023 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_MAP_ACC_GEARED_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_MAP_ACC_GEARED_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_MAP_ACC_GEARED_HPP_  // NOLINT
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_MAP_ACC_GEARED_HPP_  // NOLINT
 
 #include "autoware/interpolation/linear_interpolation.hpp"
+#include "autoware/simple_planning_simulator/utils/csv_loader.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
 #include "eigen3/Eigen/Core"
 #include "eigen3/Eigen/LU"
-#include "simple_planning_simulator/utils/csv_loader.hpp"
-#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
 
 #include <deque>
 #include <iostream>
@@ -27,6 +27,9 @@
 #include <string>
 #include <vector>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 class AccelerationMap
 {
 public:
@@ -209,4 +212,7 @@ class SimModelDelaySteerMapAccGeared : public SimModelInterface
     const double dt);
 };
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_MAP_ACC_GEARED_HPP_
+}  // namespace autoware::simulator::simple_planning_simulator
+
+// NOLINTNEXTLINE
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_MAP_ACC_GEARED_HPP_
diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp
similarity index 89%
rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp
rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp
index 61a9e8d0a5643..d878ef01c0536 100644
--- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp
+++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_VEL_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_VEL_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_VEL_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_VEL_HPP_
 
-#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/LU>
@@ -23,6 +23,10 @@
 #include <deque>
 #include <iostream>
 #include <queue>
+
+namespace autoware::simulator::simple_planning_simulator
+{
+
 /**
  * @class SimModelDelaySteerVel
  * @brief calculate delay steering dynamics
@@ -149,4 +153,6 @@ class SimModelDelaySteerVel : public SimModelInterface
   Eigen::VectorXd calcModel(const Eigen::VectorXd & state, const Eigen::VectorXd & input) override;
 };
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_VEL_HPP_
+}  // namespace autoware::simulator::simple_planning_simulator
+
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_DELAY_STEER_VEL_HPP_
diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp
similarity index 80%
rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp
rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp
index e4fcaa59f1294..86e33b13f0e3d 100644
--- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp
+++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,16 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_HPP_
 
-#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/LU>
 
 #include <iostream>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 /**
  * @class SimModelIdealSteerAcc
  * @brief calculate ideal steering dynamics
@@ -103,4 +106,6 @@ class SimModelIdealSteerAcc : public SimModelInterface
   Eigen::VectorXd calcModel(const Eigen::VectorXd & state, const Eigen::VectorXd & input) override;
 };
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_HPP_
+}  // namespace autoware::simulator::simple_planning_simulator
+
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_HPP_
diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp
similarity index 83%
rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp
rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp
index c73cc54f4ea99..158326dbbde32 100644
--- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp
+++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,16 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_GEARED_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_GEARED_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_GEARED_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_GEARED_HPP_
 
-#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/LU>
 
 #include <iostream>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 /**
  * @class SimModelIdealSteerAccGeared
  * @brief calculate ideal steering dynamics
@@ -115,4 +118,6 @@ class SimModelIdealSteerAccGeared : public SimModelInterface
     const double dt);
 };
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_GEARED_HPP_
+}  // namespace autoware::simulator::simple_planning_simulator
+
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_ACC_GEARED_HPP_
diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp
similarity index 80%
rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp
rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp
index 09046cab89dc4..4febc830f33b5 100644
--- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp
+++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,15 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_VEL_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_VEL_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_VEL_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_VEL_HPP_
 
-#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/LU>
 
 #include <iostream>
+
+namespace autoware::simulator::simple_planning_simulator
+{
+
 /**
  * @class SimModelIdealSteerVel
  * @brief calculate ideal steering dynamics
@@ -104,4 +108,6 @@ class SimModelIdealSteerVel : public SimModelInterface
   Eigen::VectorXd calcModel(const Eigen::VectorXd & state, const Eigen::VectorXd & input) override;
 };
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_VEL_HPP_
+}  // namespace autoware::simulator::simple_planning_simulator
+
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_IDEAL_STEER_VEL_HPP_
diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp
similarity index 91%
rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp
rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp
index bab4531484aa6..5af19c00e4c07 100644
--- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp
+++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_INTERFACE_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_INTERFACE_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_INTERFACE_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_INTERFACE_HPP_
 
 #include <Eigen/Core>
 
@@ -22,6 +22,9 @@
 
 #include <optional>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 /**
  * @class SimModelInterface
  * @brief simple_planning_simulator vehicle model class to calculate vehicle dynamics
@@ -178,4 +181,6 @@ class SimModelInterface
     const Eigen::VectorXd & state, const Eigen::VectorXd & input) = 0;
 };
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_INTERFACE_HPP_
+}  // namespace autoware::simulator::simple_planning_simulator
+
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_INTERFACE_HPP_
diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp
similarity index 86%
rename from simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp
rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp
index c6301db42620e..124c0d2532069 100644
--- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp
+++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp
@@ -1,4 +1,4 @@
-// Copyright 2024 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_
 
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
 #include "learning_based_vehicle_model/interconnected_model.hpp"
-#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/LU>
@@ -27,6 +27,9 @@
 #include <string>
 #include <vector>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 /**
  * @class SimModelLearnedSteerVel
  * @brief calculate delay steering dynamics
@@ -141,4 +144,6 @@ class SimModelLearnedSteerVel : public SimModelInterface /*delay steer velocity*
   }
 };
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_
+}  // namespace autoware::simulator::simple_planning_simulator
+
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_LEARNED_STEER_VEL_HPP_
diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/visibility_control.hpp b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/visibility_control.hpp
similarity index 85%
rename from simulator/simple_planning_simulator/include/simple_planning_simulator/visibility_control.hpp
rename to simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/visibility_control.hpp
index 107367b286f80..2edd9467532fa 100644
--- a/simulator/simple_planning_simulator/include/simple_planning_simulator/visibility_control.hpp
+++ b/simulator/autoware_simple_planning_simulator/include/autoware/simple_planning_simulator/visibility_control.hpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation
+// Copyright 2025 The Autoware Foundation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SIMPLE_PLANNING_SIMULATOR__VISIBILITY_CONTROL_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__VISIBILITY_CONTROL_HPP_
+#ifndef AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VISIBILITY_CONTROL_HPP_
+#define AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VISIBILITY_CONTROL_HPP_
 
 #if defined(__WIN32)
 #if defined(PLANNING_SIMULATOR_BUILDING_DLL) || defined(PLANNING_SIMULATOR_EXPORTS)
@@ -35,4 +35,4 @@
 #error "Unsupported Build Configuration"
 #endif  // defined(_WINDOWS)
 
-#endif  // SIMPLE_PLANNING_SIMULATOR__VISIBILITY_CONTROL_HPP_
+#endif  // AUTOWARE__SIMPLE_PLANNING_SIMULATOR__VISIBILITY_CONTROL_HPP_
diff --git a/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py b/simulator/autoware_simple_planning_simulator/launch/simple_planning_simulator.launch.py
similarity index 95%
rename from simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py
rename to simulator/autoware_simple_planning_simulator/launch/simple_planning_simulator.launch.py
index aed088de9fd22..df93acc6e0ff7 100644
--- a/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py
+++ b/simulator/autoware_simple_planning_simulator/launch/simple_planning_simulator.launch.py
@@ -1,4 +1,4 @@
-# Copyright 2021 The Autoware Foundation.
+# Copyright 2025 The Autoware Foundation.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -87,9 +87,8 @@ def launch_setup(context, *args, **kwargs):
         )
 
     simple_planning_simulator_node = Node(
-        package="simple_planning_simulator",
-        executable="simple_planning_simulator_exe",
-        name="simple_planning_simulator",
+        package="autoware_simple_planning_simulator",
+        executable="autoware_simple_planning_simulator_node",
         namespace="simulation",
         output="screen",
         parameters=[
@@ -151,7 +150,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg(
         "vehicle_characteristics_param_file",
         [
-            FindPackageShare("simple_planning_simulator"),
+            FindPackageShare("autoware_simple_planning_simulator"),
             "/param/vehicle_characteristics.param.yaml",
         ],
         "path to config file for vehicle characteristics",
@@ -160,7 +159,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg(
         "simulator_model_param_file",
         [
-            FindPackageShare("simple_planning_simulator"),
+            FindPackageShare("autoware_simple_planning_simulator"),
             "/param/simple_planning_simulator_default.param.yaml",
         ],
         "path to config file for simulator_model",
@@ -169,7 +168,7 @@ def add_launch_arg(name: str, default_value=None, description=None):
     add_launch_arg(
         "acceleration_param_file",
         [
-            FindPackageShare("simple_planning_simulator"),
+            FindPackageShare("autoware_simple_planning_simulator"),
             "/param/acceleration_map.csv",
         ],
     )
diff --git a/simulator/simple_planning_simulator/media/acceleration_map.svg b/simulator/autoware_simple_planning_simulator/media/acceleration_map.svg
similarity index 100%
rename from simulator/simple_planning_simulator/media/acceleration_map.svg
rename to simulator/autoware_simple_planning_simulator/media/acceleration_map.svg
diff --git a/simulator/simple_planning_simulator/media/mechanical_controller.drawio.svg b/simulator/autoware_simple_planning_simulator/media/mechanical_controller.drawio.svg
similarity index 100%
rename from simulator/simple_planning_simulator/media/mechanical_controller.drawio.svg
rename to simulator/autoware_simple_planning_simulator/media/mechanical_controller.drawio.svg
diff --git a/simulator/simple_planning_simulator/media/mechanical_controller_system_identification.png b/simulator/autoware_simple_planning_simulator/media/mechanical_controller_system_identification.png
similarity index 100%
rename from simulator/simple_planning_simulator/media/mechanical_controller_system_identification.png
rename to simulator/autoware_simple_planning_simulator/media/mechanical_controller_system_identification.png
diff --git a/simulator/simple_planning_simulator/media/pitch-calculation.drawio.svg b/simulator/autoware_simple_planning_simulator/media/pitch-calculation.drawio.svg
similarity index 100%
rename from simulator/simple_planning_simulator/media/pitch-calculation.drawio.svg
rename to simulator/autoware_simple_planning_simulator/media/pitch-calculation.drawio.svg
diff --git a/simulator/simple_planning_simulator/media/vgr_sim.drawio.svg b/simulator/autoware_simple_planning_simulator/media/vgr_sim.drawio.svg
similarity index 100%
rename from simulator/simple_planning_simulator/media/vgr_sim.drawio.svg
rename to simulator/autoware_simple_planning_simulator/media/vgr_sim.drawio.svg
diff --git a/simulator/simple_planning_simulator/package.xml b/simulator/autoware_simple_planning_simulator/package.xml
similarity index 94%
rename from simulator/simple_planning_simulator/package.xml
rename to simulator/autoware_simple_planning_simulator/package.xml
index 5bd7a2f74eacc..790e48cd80cc1 100644
--- a/simulator/simple_planning_simulator/package.xml
+++ b/simulator/autoware_simple_planning_simulator/package.xml
@@ -1,7 +1,7 @@
 <?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>simple_planning_simulator</name>
+  <name>autoware_simple_planning_simulator</name>
   <version>0.40.0</version>
   <description>simple_planning_simulator as a ROS 2 node</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
@@ -10,6 +10,7 @@
   <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
   <maintainer email="zulfaqar.azmi@tier4.jp">Zulfaqar Azmi</maintainer>
   <maintainer email="temkei.kem@tier4.jp">Temkei Kem</maintainer>
+  <maintainer email="junya.sasaki@tier4.jp">Junya Sasaki</maintainer>
   <maintainer email="kotaro.yoshimoto@tier4.jp">Kotaro Yoshimoto</maintainer>
   <license>Apache License 2.0</license>
 
diff --git a/simulator/simple_planning_simulator/param/acceleration_map.csv b/simulator/autoware_simple_planning_simulator/param/acceleration_map.csv
similarity index 100%
rename from simulator/simple_planning_simulator/param/acceleration_map.csv
rename to simulator/autoware_simple_planning_simulator/param/acceleration_map.csv
diff --git a/simulator/simple_planning_simulator/param/simple_planning_simulator_default.param.yaml b/simulator/autoware_simple_planning_simulator/param/simple_planning_simulator_default.param.yaml
similarity index 100%
rename from simulator/simple_planning_simulator/param/simple_planning_simulator_default.param.yaml
rename to simulator/autoware_simple_planning_simulator/param/simple_planning_simulator_default.param.yaml
diff --git a/simulator/simple_planning_simulator/param/simple_planning_simulator_mechanical_sample.param.yaml b/simulator/autoware_simple_planning_simulator/param/simple_planning_simulator_mechanical_sample.param.yaml
similarity index 100%
rename from simulator/simple_planning_simulator/param/simple_planning_simulator_mechanical_sample.param.yaml
rename to simulator/autoware_simple_planning_simulator/param/simple_planning_simulator_mechanical_sample.param.yaml
diff --git a/simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml b/simulator/autoware_simple_planning_simulator/param/vehicle_characteristics.param.yaml
similarity index 100%
rename from simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml
rename to simulator/autoware_simple_planning_simulator/param/vehicle_characteristics.param.yaml
diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
similarity index 98%
rename from simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
index 8c95e144b3f8d..b03de1906db78 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
+++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "simple_planning_simulator/simple_planning_simulator_core.hpp"
+#include "autoware/simple_planning_simulator/simple_planning_simulator_core.hpp"
 
 #include "autoware/motion_utils/trajectory/trajectory.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware/universe_utils/ros/msg_covariance.hpp"
 #include "autoware/universe_utils/ros/update_param.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
-#include "simple_planning_simulator/vehicle_model/sim_model.hpp"
-#include "simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp"
 
 #include <autoware_lanelet2_extension/utility/message_conversion.hpp>
 #include <autoware_lanelet2_extension/utility/query.hpp>
@@ -43,7 +43,7 @@
 
 using namespace std::literals::chrono_literals;
 
-namespace
+namespace autoware::simulator::simple_planning_simulator
 {
 
 autoware_vehicle_msgs::msg::VelocityReport to_velocity_report(
@@ -91,12 +91,6 @@ std::vector<geometry_msgs::msg::Point> convert_centerline_to_points(
   }
   return centerline_points;
 }
-}  // namespace
-
-namespace simulation
-{
-namespace simple_planning_simulator
-{
 
 SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & options)
 : Node("simple_planning_simulator", options), tf_buffer_(get_clock()), tf_listener_(tf_buffer_)
@@ -957,7 +951,7 @@ void SimplePlanningSimulator::publish_actuation_status()
   actuation_status.value().header.frame_id = simulated_frame_id_;
   pub_actuation_status_->publish(actuation_status.value());
 }
-}  // namespace simple_planning_simulator
-}  // namespace simulation
+}  // namespace autoware::simulator::simple_planning_simulator
 
-RCLCPP_COMPONENTS_REGISTER_NODE(simulation::simple_planning_simulator::SimplePlanningSimulator)
+RCLCPP_COMPONENTS_REGISTER_NODE(
+  autoware::simulator::simple_planning_simulator::SimplePlanningSimulator)
diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp
similarity index 94%
rename from simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp
rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp
index fa1f7978a798c..0a4f03c959ff0 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp
+++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/utils/csv_loader.cpp
@@ -1,4 +1,4 @@
-//  Copyright 2023 Tier IV, Inc. All rights reserved.
+//  Copyright 2025 Tier IV, Inc. All rights reserved.
 //
 //  Licensed under the Apache License, Version 2.0 (the "License");
 //  you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
 //  See the License for the specific language governing permissions and
 //  limitations under the License.
 
-#include "simple_planning_simulator/utils/csv_loader.hpp"
+#include "autoware/simple_planning_simulator/utils/csv_loader.hpp"
 
 #include <algorithm>
 #include <iostream>
@@ -21,6 +21,9 @@
 #include <utility>
 #include <vector>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 CSVLoader::CSVLoader(const std::string & csv_path)
 {
   csv_path_ = csv_path;
@@ -152,3 +155,5 @@ double CSVLoader::clampValue(const double val, const std::vector<double> & range
   }
   return val;
 }
+
+}  // namespace autoware::simulator::simple_planning_simulator
diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp
similarity index 97%
rename from simulator/simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp
rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp
index 0977cd9e25a92..84f4ff4ea0ba4 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp
+++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/utils/mechanical_controller.cpp
@@ -1,4 +1,4 @@
-// Copyright 2024 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "simple_planning_simulator/utils/mechanical_controller.hpp"
+#include "autoware/simple_planning_simulator/utils/mechanical_controller.hpp"
 
 #include <algorithm>
 #include <cmath>
@@ -24,7 +24,7 @@
 #include <utility>
 #include <vector>
 
-namespace autoware::simple_planning_simulator::utils::mechanical_controller
+namespace autoware::simulator::simple_planning_simulator
 {
 
 using DelayBuffer = std::deque<std::pair<double, double>>;
@@ -349,4 +349,4 @@ StepResult MechanicalController::run_one_step(
   return {delay_buffer_new, pid_error, d_state, false};
 }
 
-}  // namespace autoware::simple_planning_simulator::utils::mechanical_controller
+}  // namespace autoware::simulator::simple_planning_simulator
diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp
similarity index 98%
rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp
rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp
index bfcf571d8c09b..4db0b0856ea25 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp
+++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp
@@ -1,4 +1,4 @@
-// Copyright 2024 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp"
 
 #include "autoware_vehicle_msgs/msg/gear_command.hpp"
 
@@ -20,6 +20,9 @@
 #include <string>
 #include <vector>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 bool ActuationMap::readActuationMapFromCSV(const std::string & csv_path, const bool validation)
 {
   CSVLoader csv(csv_path);
@@ -517,3 +520,4 @@ void SimModelActuationCmdMechanical::setState(const Eigen::VectorXd & state)
   state_ = state;
 }
 /* ---------------------------------------- */
+}  // namespace autoware::simulator::simple_planning_simulator
diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp
similarity index 94%
rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp
rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp
index 6a9b5c65d4760..fbe4db941e8de 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp
+++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,10 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp"
 
 #include <algorithm>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 SimModelDelaySteerAcc::SimModelDelaySteerAcc(
   double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase,
   double dt, double acc_delay, double acc_time_constant, double steer_delay,
@@ -135,3 +138,5 @@ Eigen::VectorXd SimModelDelaySteerAcc::calcModel(
 
   return d_state;
 }
+
+}  // namespace autoware::simulator::simple_planning_simulator
diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp
similarity index 96%
rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp
rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp
index 88b0e6c639fd1..8db40f7cc5298 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp
+++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,12 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp"
 
 #include "autoware_vehicle_msgs/msg/gear_command.hpp"
 
 #include <algorithm>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 SimModelDelaySteerAccGeared::SimModelDelaySteerAccGeared(
   double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase,
   double dt, double acc_delay, double acc_time_constant, double steer_delay,
@@ -180,3 +183,5 @@ void SimModelDelaySteerAccGeared::updateStateWithGear(
     setStopState();
   }
 }
+
+}  // namespace autoware::simulator::simple_planning_simulator
diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp
similarity index 96%
rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp
rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp
index 78cfa6caeb946..5e26132aa3e5e 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp
+++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp
@@ -1,4 +1,4 @@
-// Copyright 2024 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,12 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp"
 
 #include "autoware_vehicle_msgs/msg/gear_command.hpp"
 
 #include <algorithm>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 SimModelDelaySteerAccGearedWoFallGuard::SimModelDelaySteerAccGearedWoFallGuard(
   double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase,
   double dt, double acc_delay, double acc_time_constant, double steer_delay,
@@ -181,3 +184,5 @@ Eigen::VectorXd SimModelDelaySteerAccGearedWoFallGuard::calcModel(
 
   return d_state;
 }
+
+}  // namespace autoware::simulator::simple_planning_simulator
diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp
similarity index 95%
rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp
rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp
index ffef5ab7b236c..dc576872a6c18 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp
+++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp
@@ -1,4 +1,4 @@
-// Copyright 2023 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,13 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp"
 
 #include "autoware_vehicle_msgs/msg/gear_command.hpp"
 
 #include <algorithm>
 #include <string>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 SimModelDelaySteerMapAccGeared::SimModelDelaySteerMapAccGeared(
   double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase,
   double dt, double acc_delay, double acc_time_constant, double steer_delay,
@@ -168,3 +171,5 @@ void SimModelDelaySteerMapAccGeared::updateStateWithGear(
     state(IDX::ACCX) = (state(IDX::VX) - prev_state(IDX::VX)) / std::max(dt, 1.0e-5);
   }
 }
+
+}  // namespace autoware::simulator::simple_planning_simulator
diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp
similarity index 94%
rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp
rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp
index 1ee08fad566f5..66d42d4719bf0 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp
+++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,10 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp"
 
 #include <algorithm>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 SimModelDelaySteerVel::SimModelDelaySteerVel(
   double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase,
   double dt, double vx_delay, double vx_time_constant, double steer_delay,
@@ -132,3 +135,5 @@ Eigen::VectorXd SimModelDelaySteerVel::calcModel(
 
   return d_state;
 }
+
+}  // namespace autoware::simulator::simple_planning_simulator
diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.cpp
similarity index 88%
rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.cpp
rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.cpp
index 2edf43f0a743c..f5512c4bdb4b3 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.cpp
+++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.cpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,7 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp"
+
+namespace autoware::simulator::simple_planning_simulator
+{
 
 SimModelIdealSteerAcc::SimModelIdealSteerAcc(double wheelbase)
 : SimModelInterface(4 /* dim x */, 2 /* dim u */), wheelbase_(wheelbase)
@@ -72,3 +75,5 @@ Eigen::VectorXd SimModelIdealSteerAcc::calcModel(
 
   return d_state;
 }
+
+}  // namespace autoware::simulator::simple_planning_simulator
diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.cpp
similarity index 93%
rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.cpp
rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.cpp
index 46538778bd1b1..e06ca161d36e0 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.cpp
+++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.cpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,12 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp"
 
 #include "autoware_vehicle_msgs/msg/gear_command.hpp"
 
 #include <algorithm>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 SimModelIdealSteerAccGeared::SimModelIdealSteerAccGeared(double wheelbase)
 : SimModelInterface(4 /* dim x */, 2 /* dim u */), wheelbase_(wheelbase), current_acc_(0.0)
 {
@@ -115,3 +118,5 @@ void SimModelIdealSteerAccGeared::updateStateWithGear(
   // calculate acc from velocity diff
   current_acc_ = (state(IDX::VX) - prev_state(IDX::VX)) / std::max(dt, 1.0e-5);
 }
+
+}  // namespace autoware::simulator::simple_planning_simulator
diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.cpp
similarity index 88%
rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.cpp
rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.cpp
index e43ac4aa8eae5..6009b2f0f3fd5 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.cpp
+++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.cpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,7 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp"
+
+namespace autoware::simulator::simple_planning_simulator
+{
 
 SimModelIdealSteerVel::SimModelIdealSteerVel(double wheelbase)
 : SimModelInterface(3 /* dim x */, 2 /* dim u */), wheelbase_(wheelbase)
@@ -72,3 +75,5 @@ Eigen::VectorXd SimModelIdealSteerVel::calcModel(
 
   return d_state;
 }
+
+}  // namespace autoware::simulator::simple_planning_simulator
diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_interface.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_interface.cpp
similarity index 87%
rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_interface.cpp
rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_interface.cpp
index 8d17f72e0c3b3..33135f40c4c87 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_interface.cpp
+++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_interface.cpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,7 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
+
+namespace autoware::simulator::simple_planning_simulator
+{
 
 SimModelInterface::SimModelInterface(int dim_x, int dim_u) : dim_x_(dim_x), dim_u_(dim_u)
 {
@@ -57,3 +60,5 @@ uint8_t SimModelInterface::getGear() const
 {
   return gear_;
 }
+
+}  // namespace autoware::simulator::simple_planning_simulator
diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp
similarity index 90%
rename from simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp
rename to simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp
index 4ddcc0e498b70..2d9c8d8ab0e0e 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp
+++ b/simulator/autoware_simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.cpp
@@ -1,4 +1,4 @@
-// Copyright 2024 The Autoware Foundation.
+// Copyright 2025 The Autoware Foundation.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp"
+#include "autoware/simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp"
 
 #include "learning_based_vehicle_model/interconnected_model.hpp"
 
@@ -21,6 +21,9 @@
 #include <tuple>
 #include <vector>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 SimModelLearnedSteerVel::SimModelLearnedSteerVel(
   double dt, std::vector<std::string> model_python_paths,
   std::vector<std::string> model_param_paths, std::vector<std::string> model_class_names)
@@ -89,3 +92,5 @@ void SimModelLearnedSteerVel::update(const double & dt)
   current_ax_ = (input_(IDX_U::VX_DES) - prev_vx_) / dt;
   prev_vx_ = input_(IDX_U::VX_DES);
 }
+
+}  // namespace autoware::simulator::simple_planning_simulator
diff --git a/simulator/simple_planning_simulator/test/actuation_cmd_map/accel_map.csv b/simulator/autoware_simple_planning_simulator/test/actuation_cmd_map/accel_map.csv
similarity index 100%
rename from simulator/simple_planning_simulator/test/actuation_cmd_map/accel_map.csv
rename to simulator/autoware_simple_planning_simulator/test/actuation_cmd_map/accel_map.csv
diff --git a/simulator/simple_planning_simulator/test/actuation_cmd_map/brake_map.csv b/simulator/autoware_simple_planning_simulator/test/actuation_cmd_map/brake_map.csv
similarity index 100%
rename from simulator/simple_planning_simulator/test/actuation_cmd_map/brake_map.csv
rename to simulator/autoware_simple_planning_simulator/test/actuation_cmd_map/brake_map.csv
diff --git a/simulator/simple_planning_simulator/test/actuation_cmd_map/steer_map.csv b/simulator/autoware_simple_planning_simulator/test/actuation_cmd_map/steer_map.csv
similarity index 100%
rename from simulator/simple_planning_simulator/test/actuation_cmd_map/steer_map.csv
rename to simulator/autoware_simple_planning_simulator/test/actuation_cmd_map/steer_map.csv
diff --git a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp b/simulator/autoware_simple_planning_simulator/test/test_simple_planning_simulator.cpp
similarity index 98%
rename from simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp
rename to simulator/autoware_simple_planning_simulator/test/test_simple_planning_simulator.cpp
index 0baa3302f86c7..afe816ee8944a 100644
--- a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp
+++ b/simulator/autoware_simple_planning_simulator/test/test_simple_planning_simulator.cpp
@@ -1,4 +1,4 @@
-// Copyright 2021 The Autoware Foundation
+// Copyright 2025 The Autoware Foundation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -13,8 +13,8 @@
 // limitations under the License.
 
 #include "ament_index_cpp/get_package_share_directory.hpp"
+#include "autoware/simple_planning_simulator/simple_planning_simulator_core.hpp"
 #include "gtest/gtest.h"
-#include "simple_planning_simulator/simple_planning_simulator_core.hpp"
 #include "tf2/utils.h"
 
 #include "tier4_vehicle_msgs/msg/actuation_command_stamped.hpp"
@@ -32,15 +32,15 @@
 
 #include <memory>
 
+namespace autoware::simulator::simple_planning_simulator
+{
+
 using autoware_control_msgs::msg::Control;
 using autoware_vehicle_msgs::msg::GearCommand;
 using geometry_msgs::msg::PoseWithCovarianceStamped;
 using nav_msgs::msg::Odometry;
 using tier4_vehicle_msgs::msg::ActuationCommandStamped;
 
-using simulation::simple_planning_simulator::InputCommand;
-using simulation::simple_planning_simulator::SimplePlanningSimulator;
-
 std::string toStrInfo(const Odometry & o)
 {
   const auto & p = o.pose.pose;
@@ -317,7 +317,8 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel)
   node_options.append_parameter_override("brake_time_constant", 0.2);
   node_options.append_parameter_override("convert_accel_cmd", true);
   node_options.append_parameter_override("convert_brake_cmd", true);
-  const auto share_dir = ament_index_cpp::get_package_share_directory("simple_planning_simulator");
+  const auto share_dir =
+    ament_index_cpp::get_package_share_directory("autoware_simple_planning_simulator");
   const auto accel_map_path = share_dir + "/test/actuation_cmd_map/accel_map.csv";
   const auto brake_map_path = share_dir + "/test/actuation_cmd_map/brake_map.csv";
   const auto steer_map_path = share_dir + "/test/actuation_cmd_map/steer_map.csv";
@@ -456,3 +457,5 @@ INSTANTIATE_TEST_SUITE_P(
     std::make_tuple(CommandType::Actuation, "ACTUATION_CMD_STEER_MAP"),
     std::make_tuple(CommandType::Actuation, "ACTUATION_CMD_VGR"),
     std::make_tuple(CommandType::Actuation, "ACTUATION_CMD_MECHANICAL")));
+
+}  // namespace autoware::simulator::simple_planning_simulator
diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model.hpp
deleted file mode 100644
index 52c3825ae1888..0000000000000
--- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model.hpp
+++ /dev/null
@@ -1,30 +0,0 @@
-// Copyright 2021 The Autoware Foundation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_HPP_
-#define SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_HPP_
-
-#include "simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp"
-#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp"
-#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp"
-#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp"
-#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.hpp"
-#include "simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.hpp"
-#include "simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc.hpp"
-#include "simple_planning_simulator/vehicle_model/sim_model_ideal_steer_acc_geared.hpp"
-#include "simple_planning_simulator/vehicle_model/sim_model_ideal_steer_vel.hpp"
-#include "simple_planning_simulator/vehicle_model/sim_model_interface.hpp"
-#include "simple_planning_simulator/vehicle_model/sim_model_learned_steer_vel.hpp"
-
-#endif  // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_HPP_