diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py
index 5fa71cd1aa0e9..6c0e5f20b8957 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py
@@ -106,7 +106,7 @@ def create_compare_map_pipeline(self):
         components.append(
             ComposableNode(
                 package="compare_map_segmentation",
-                plugin="compare_map_segmentation::VoxelBasedCompareMapFilterComponent",
+                plugin="autoware::compare_map_segmentation::VoxelBasedCompareMapFilterComponent",
                 name="voxel_based_compare_map_filter",
                 remappings=[
                     ("input", down_sample_topic),
diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
index ba0b058d8c00b..fd38b7bfd6ab3 100644
--- a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
+++ b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -391,7 +391,7 @@ def create_single_frame_outlier_filter_components(input_topic, output_topic, con
         components.append(
             ComposableNode(
                 package="compare_map_segmentation",
-                plugin="compare_map_segmentation::CompareElevationMapFilterComponent",
+                plugin="autoware::compare_map_segmentation::CompareElevationMapFilterComponent",
                 name="compare_elevation_map_filter",
                 namespace="elevation_map",
                 remappings=[
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
index 3deff32d6e297..3c58c8d85b5be 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -260,7 +260,12 @@
   <group if="$(var launch_compare_map_pipeline)">
     <!-- use pointcloud container -->
     <load_composable_node target="$(var pointcloud_container_name)">
-      <composable_node pkg="compare_map_segmentation" plugin="compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent" name="voxel_distance_based_compare_map_filter_node" namespace="">
+      <composable_node
+        pkg="compare_map_segmentation"
+        plugin="autoware::compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent"
+        name="voxel_distance_based_compare_map_filter_node"
+        namespace=""
+      >
         <!-- topic remap -->
         <remap from="map" to="$(var input_pointcloud_map_topic_name)"/>
         <remap from="kinematic_state" to="/localization/kinematic_state"/>
diff --git a/perception/compare_map_segmentation/CMakeLists.txt b/perception/compare_map_segmentation/CMakeLists.txt
index a76b0fc56e2a0..0a33711e946ef 100644
--- a/perception/compare_map_segmentation/CMakeLists.txt
+++ b/perception/compare_map_segmentation/CMakeLists.txt
@@ -21,23 +21,23 @@ include_directories(
   ${GRID_MAP_INCLUDE_DIR}
 )
 
-add_library(compare_map_segmentation SHARED
-  src/distance_based_compare_map_filter_nodelet.cpp
-  src/voxel_based_approximate_compare_map_filter_nodelet.cpp
-  src/voxel_based_compare_map_filter_nodelet.cpp
-  src/voxel_distance_based_compare_map_filter_nodelet.cpp
-  src/compare_elevation_map_filter_node.cpp
-  src/voxel_grid_map_loader.cpp
+add_library(${PROJECT_NAME} SHARED
+  src/distance_based_compare_map_filter/node.cpp
+  src/voxel_based_approximate_compare_map_filter/node.cpp
+  src/voxel_based_compare_map_filter/node.cpp
+  src/voxel_distance_based_compare_map_filter/node.cpp
+  src/compare_elevation_map_filter/node.cpp
+  src/voxel_grid_map_loader/voxel_grid_map_loader.cpp
 )
 
-target_link_libraries(compare_map_segmentation
+target_link_libraries(${PROJECT_NAME}
   pointcloud_preprocessor::pointcloud_preprocessor_filter_base
   ${Boost_LIBRARIES}
   ${OpenCV_LIBRARIES}
   ${PCL_LIBRARIES}
 )
 
-ament_target_dependencies(compare_map_segmentation
+ament_target_dependencies(${PROJECT_NAME}
   grid_map_pcl
   grid_map_ros
   pcl_conversions
@@ -50,7 +50,7 @@ ament_target_dependencies(compare_map_segmentation
 )
 
 if(OPENMP_FOUND)
-  set_target_properties(compare_map_segmentation PROPERTIES
+  set_target_properties(${PROJECT_NAME} PROPERTIES
     COMPILE_FLAGS ${OpenMP_CXX_FLAGS}
     LINK_FLAGS ${OpenMP_CXX_FLAGS}
   )
@@ -58,32 +58,32 @@ endif()
 
 # ========== Compare Map Filter ==========
 # -- Distance Based Compare Map Filter --
-rclcpp_components_register_node(compare_map_segmentation
-  PLUGIN "compare_map_segmentation::DistanceBasedCompareMapFilterComponent"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::compare_map_segmentation::DistanceBasedCompareMapFilterComponent"
   EXECUTABLE distance_based_compare_map_filter_node)
 
 # -- Voxel Based Approximate Compare Map Filter --
-rclcpp_components_register_node(compare_map_segmentation
-  PLUGIN "compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent"
   EXECUTABLE voxel_based_approximate_compare_map_filter_node)
 
 # -- Voxel Based Compare Map Filter --
-rclcpp_components_register_node(compare_map_segmentation
-  PLUGIN "compare_map_segmentation::VoxelBasedCompareMapFilterComponent"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::compare_map_segmentation::VoxelBasedCompareMapFilterComponent"
   EXECUTABLE voxel_based_compare_map_filter_node)
 
 # -- Voxel Distance Based Compare Map Filter --
-rclcpp_components_register_node(compare_map_segmentation
-  PLUGIN "compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent"
   EXECUTABLE voxel_distance_based_compare_map_filter_node)
 
 # -- Compare Elevation Map Filter --
-rclcpp_components_register_node(compare_map_segmentation
-  PLUGIN "compare_map_segmentation::CompareElevationMapFilterComponent"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::compare_map_segmentation::CompareElevationMapFilterComponent"
   EXECUTABLE compare_elevation_map_filter_node)
 
 install(
-  TARGETS compare_map_segmentation
+  TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
diff --git a/perception/compare_map_segmentation/src/compare_elevation_map_filter_node.cpp b/perception/compare_map_segmentation/src/compare_elevation_map_filter/node.cpp
similarity index 93%
rename from perception/compare_map_segmentation/src/compare_elevation_map_filter_node.cpp
rename to perception/compare_map_segmentation/src/compare_elevation_map_filter/node.cpp
index 1eadeeb3bec05..e5a19245bc5b1 100644
--- a/perception/compare_map_segmentation/src/compare_elevation_map_filter_node.cpp
+++ b/perception/compare_map_segmentation/src/compare_elevation_map_filter/node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "compare_map_segmentation/compare_elevation_map_filter_node.hpp"
+#include "node.hpp"
 
 #include <grid_map_core/GridMap.hpp>
 #include <grid_map_cv/GridMapCvConverter.hpp>
@@ -33,7 +33,7 @@
 #include <string>
 #include <utility>
 
-namespace compare_map_segmentation
+namespace autoware::compare_map_segmentation
 {
 CompareElevationMapFilterComponent::CompareElevationMapFilterComponent(
   const rclcpp::NodeOptions & options)
@@ -94,7 +94,8 @@ void CompareElevationMapFilterComponent::filter(
   output.header.stamp = input->header.stamp;
   output.header.frame_id = output_frame;
 }
-}  // namespace compare_map_segmentation
+}  // namespace autoware::compare_map_segmentation
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(compare_map_segmentation::CompareElevationMapFilterComponent)
+RCLCPP_COMPONENTS_REGISTER_NODE(
+  autoware::compare_map_segmentation::CompareElevationMapFilterComponent)
diff --git a/perception/compare_map_segmentation/include/compare_map_segmentation/compare_elevation_map_filter_node.hpp b/perception/compare_map_segmentation/src/compare_elevation_map_filter/node.hpp
similarity index 86%
rename from perception/compare_map_segmentation/include/compare_map_segmentation/compare_elevation_map_filter_node.hpp
rename to perception/compare_map_segmentation/src/compare_elevation_map_filter/node.hpp
index 63aad08fe7611..ba2328d862951 100644
--- a/perception/compare_map_segmentation/include/compare_map_segmentation/compare_elevation_map_filter_node.hpp
+++ b/perception/compare_map_segmentation/src/compare_elevation_map_filter/node.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPARE_MAP_SEGMENTATION__COMPARE_ELEVATION_MAP_FILTER_NODE_HPP_
-#define COMPARE_MAP_SEGMENTATION__COMPARE_ELEVATION_MAP_FILTER_NODE_HPP_
+#ifndef COMPARE_ELEVATION_MAP_FILTER__NODE_HPP_
+#define COMPARE_ELEVATION_MAP_FILTER__NODE_HPP_
 
 #include "pointcloud_preprocessor/filter.hpp"
 
@@ -29,7 +29,7 @@
 #include <mutex>
 #include <string>
 #include <vector>
-namespace compare_map_segmentation
+namespace autoware::compare_map_segmentation
 {
 class CompareElevationMapFilterComponent : public pointcloud_preprocessor::Filter
 {
@@ -56,6 +56,6 @@ class CompareElevationMapFilterComponent : public pointcloud_preprocessor::Filte
   PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit CompareElevationMapFilterComponent(const rclcpp::NodeOptions & options);
 };
-}  // namespace compare_map_segmentation
+}  // namespace autoware::compare_map_segmentation
 
-#endif  // COMPARE_MAP_SEGMENTATION__COMPARE_ELEVATION_MAP_FILTER_NODE_HPP_
+#endif  // COMPARE_ELEVATION_MAP_FILTER__NODE_HPP_
diff --git a/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp
similarity index 94%
rename from perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp
rename to perception/compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp
index 2962ba1e28a75..53183cd7dc3f0 100644
--- a/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp
+++ b/perception/compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp
@@ -12,7 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "compare_map_segmentation/distance_based_compare_map_filter_nodelet.hpp"
+#include "node.hpp"
+
+#include "autoware/universe_utils/ros/debug_publisher.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/search/kdtree.h>
@@ -20,7 +23,7 @@
 
 #include <vector>
 
-namespace compare_map_segmentation
+namespace autoware::compare_map_segmentation
 {
 
 void DistanceBasedStaticMapLoader::onMapCallback(
@@ -176,7 +179,8 @@ void DistanceBasedCompareMapFilterComponent::filter(
   }
 }
 
-}  // namespace compare_map_segmentation
+}  // namespace autoware::compare_map_segmentation
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(compare_map_segmentation::DistanceBasedCompareMapFilterComponent)
+RCLCPP_COMPONENTS_REGISTER_NODE(
+  autoware::compare_map_segmentation::DistanceBasedCompareMapFilterComponent)
diff --git a/perception/compare_map_segmentation/include/compare_map_segmentation/distance_based_compare_map_filter_nodelet.hpp b/perception/compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp
similarity index 91%
rename from perception/compare_map_segmentation/include/compare_map_segmentation/distance_based_compare_map_filter_nodelet.hpp
rename to perception/compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp
index 301dc75839f8e..115a73cf0d263 100644
--- a/perception/compare_map_segmentation/include/compare_map_segmentation/distance_based_compare_map_filter_nodelet.hpp
+++ b/perception/compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPARE_MAP_SEGMENTATION__DISTANCE_BASED_COMPARE_MAP_FILTER_NODELET_HPP_
-#define COMPARE_MAP_SEGMENTATION__DISTANCE_BASED_COMPARE_MAP_FILTER_NODELET_HPP_
+#ifndef DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_
+#define DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_
 
+#include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp"
 #include "pointcloud_preprocessor/filter.hpp"
-#include "voxel_grid_map_loader.hpp"
 
 #include <pcl/common/point_tests.h>  // for pcl::isFinite
 #include <pcl/filters/voxel_grid.h>
@@ -26,7 +26,7 @@
 #include <string>
 #include <vector>
 
-namespace compare_map_segmentation
+namespace autoware::compare_map_segmentation
 {
 
 typedef typename pcl::Filter<pcl::PointXYZ>::PointCloud PointCloud;
@@ -114,8 +114,8 @@ class DistanceBasedCompareMapFilterComponent : public pointcloud_preprocessor::F
   PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit DistanceBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options);
 };
-}  // namespace compare_map_segmentation
+}  // namespace autoware::compare_map_segmentation
 
 // clang-format off
-#endif  // COMPARE_MAP_SEGMENTATION__DISTANCE_BASED_COMPARE_MAP_FILTER_NODELET_HPP_  // NOLINT
+#endif  // DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_  // NOLINT
 // clang-format on
diff --git a/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp
similarity index 94%
rename from perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp
rename to perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp
index e14ae7d55a1d4..8bc22f8c31184 100644
--- a/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp
+++ b/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.cpp
@@ -12,7 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "compare_map_segmentation/voxel_based_approximate_compare_map_filter_nodelet.hpp"
+#include "node.hpp"
+
+#include "autoware/universe_utils/ros/debug_publisher.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/search/kdtree.h>
@@ -20,7 +23,7 @@
 
 #include <vector>
 
-namespace compare_map_segmentation
+namespace autoware::compare_map_segmentation
 {
 
 bool VoxelBasedApproximateStaticMapLoader::is_close_to_map(
@@ -145,8 +148,8 @@ void VoxelBasedApproximateCompareMapFilterComponent::filter(
   }
 }
 
-}  // namespace compare_map_segmentation
+}  // namespace autoware::compare_map_segmentation
 
 #include <rclcpp_components/register_node_macro.hpp>
 RCLCPP_COMPONENTS_REGISTER_NODE(
-  compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent)
+  autoware::compare_map_segmentation::VoxelBasedApproximateCompareMapFilterComponent)
diff --git a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_approximate_compare_map_filter_nodelet.hpp b/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp
similarity index 85%
rename from perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_approximate_compare_map_filter_nodelet.hpp
rename to perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp
index 3a5e183767620..26b0204210209 100644
--- a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_approximate_compare_map_filter_nodelet.hpp
+++ b/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter/node.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPARE_MAP_SEGMENTATION__VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER_NODELET_HPP_  // NOLINT
-#define COMPARE_MAP_SEGMENTATION__VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER_NODELET_HPP_  // NOLINT
+#ifndef VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER__NODE_HPP_  // NOLINT
+#define VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER__NODE_HPP_  // NOLINT
 
+#include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp"
 #include "pointcloud_preprocessor/filter.hpp"
-#include "voxel_grid_map_loader.hpp"
 
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/search/pcl_search.h>
@@ -25,7 +25,7 @@
 #include <string>
 #include <vector>
 
-namespace compare_map_segmentation
+namespace autoware::compare_map_segmentation
 {
 
 class VoxelBasedApproximateStaticMapLoader : public VoxelGridStaticMapLoader
@@ -70,8 +70,8 @@ class VoxelBasedApproximateCompareMapFilterComponent : public pointcloud_preproc
   PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit VoxelBasedApproximateCompareMapFilterComponent(const rclcpp::NodeOptions & options);
 };
-}  // namespace compare_map_segmentation
+}  // namespace autoware::compare_map_segmentation
 
 // clang-format off
-#endif  // COMPARE_MAP_SEGMENTATION__VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER_NODELET_HPP_  // NOLINT
+#endif  // VOXEL_BASED_APPROXIMATE_COMPARE_MAP_FILTER__NODE_HPP_  // NOLINT
 // clang-format on
diff --git a/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp
similarity index 92%
rename from perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp
rename to perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp
index 449ae76181bc6..1861a710cdebd 100644
--- a/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp
+++ b/perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.cpp
@@ -12,7 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "compare_map_segmentation/voxel_based_compare_map_filter_nodelet.hpp"
+#include "node.hpp"
+
+#include "autoware/universe_utils/ros/debug_publisher.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/search/kdtree.h>
@@ -21,7 +24,7 @@
 #include <string>
 #include <vector>
 
-namespace compare_map_segmentation
+namespace autoware::compare_map_segmentation
 {
 using pointcloud_preprocessor::get_param;
 
@@ -106,7 +109,8 @@ void VoxelBasedCompareMapFilterComponent::filter(
   }
 }
 
-}  // namespace compare_map_segmentation
+}  // namespace autoware::compare_map_segmentation
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(compare_map_segmentation::VoxelBasedCompareMapFilterComponent)
+RCLCPP_COMPONENTS_REGISTER_NODE(
+  autoware::compare_map_segmentation::VoxelBasedCompareMapFilterComponent)
diff --git a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_compare_map_filter_nodelet.hpp b/perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp
similarity index 78%
rename from perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_compare_map_filter_nodelet.hpp
rename to perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp
index 692193d13b04f..6e03e5d7a2e09 100644
--- a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_based_compare_map_filter_nodelet.hpp
+++ b/perception/compare_map_segmentation/src/voxel_based_compare_map_filter/node.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPARE_MAP_SEGMENTATION__VOXEL_BASED_COMPARE_MAP_FILTER_NODELET_HPP_
-#define COMPARE_MAP_SEGMENTATION__VOXEL_BASED_COMPARE_MAP_FILTER_NODELET_HPP_
+#ifndef VOXEL_BASED_COMPARE_MAP_FILTER__NODE_HPP_
+#define VOXEL_BASED_COMPARE_MAP_FILTER__NODE_HPP_
 
-#include "compare_map_segmentation/voxel_grid_map_loader.hpp"
+#include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp"
 #include "pointcloud_preprocessor/filter.hpp"
 
 #include <pcl/filters/voxel_grid.h>
@@ -24,7 +24,7 @@
 #include <memory>
 #include <vector>
 
-namespace compare_map_segmentation
+namespace autoware::compare_map_segmentation
 {
 class VoxelBasedCompareMapFilterComponent : public pointcloud_preprocessor::Filter
 {
@@ -45,6 +45,6 @@ class VoxelBasedCompareMapFilterComponent : public pointcloud_preprocessor::Filt
   PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit VoxelBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options);
 };
-}  // namespace compare_map_segmentation
+}  // namespace autoware::compare_map_segmentation
 
-#endif  // COMPARE_MAP_SEGMENTATION__VOXEL_BASED_COMPARE_MAP_FILTER_NODELET_HPP_
+#endif  // VOXEL_BASED_COMPARE_MAP_FILTER__NODE_HPP_
diff --git a/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp
similarity index 95%
rename from perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp
rename to perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp
index 0a660bfffd7fb..7fdeb5d8ea163 100644
--- a/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp
+++ b/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.cpp
@@ -12,7 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "compare_map_segmentation/voxel_distance_based_compare_map_filter_nodelet.hpp"
+#include "node.hpp"
+
+#include "autoware/universe_utils/ros/debug_publisher.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/search/kdtree.h>
@@ -20,7 +23,7 @@
 
 #include <vector>
 
-namespace compare_map_segmentation
+namespace autoware::compare_map_segmentation
 {
 
 void VoxelDistanceBasedStaticMapLoader::onMapCallback(
@@ -174,8 +177,8 @@ void VoxelDistanceBasedCompareMapFilterComponent::filter(
       "debug/processing_time_ms", processing_time_ms);
   }
 }
-}  // namespace compare_map_segmentation
+}  // namespace autoware::compare_map_segmentation
 
 #include <rclcpp_components/register_node_macro.hpp>
 RCLCPP_COMPONENTS_REGISTER_NODE(
-  compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent)
+  autoware::compare_map_segmentation::VoxelDistanceBasedCompareMapFilterComponent)
diff --git a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_distance_based_compare_map_filter_nodelet.hpp b/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp
similarity index 93%
rename from perception/compare_map_segmentation/include/compare_map_segmentation/voxel_distance_based_compare_map_filter_nodelet.hpp
rename to perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp
index 0cfc8a64ab2dd..e0656359f3df2 100644
--- a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_distance_based_compare_map_filter_nodelet.hpp
+++ b/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPARE_MAP_SEGMENTATION__VOXEL_DISTANCE_BASED_COMPARE_MAP_FILTER_NODELET_HPP_  // NOLINT
-#define COMPARE_MAP_SEGMENTATION__VOXEL_DISTANCE_BASED_COMPARE_MAP_FILTER_NODELET_HPP_  // NOLINT
+#ifndef VOXEL_DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_  // NOLINT
+#define VOXEL_DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_  // NOLINT
 
+#include "../voxel_grid_map_loader/voxel_grid_map_loader.hpp"
 #include "pointcloud_preprocessor/filter.hpp"
-#include "voxel_grid_map_loader.hpp"
 
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/search/pcl_search.h>
@@ -27,7 +27,7 @@
 #include <utility>
 #include <vector>
 
-namespace compare_map_segmentation
+namespace autoware::compare_map_segmentation
 {
 
 typedef typename pcl::Filter<pcl::PointXYZ>::PointCloud PointCloud;
@@ -139,8 +139,8 @@ class VoxelDistanceBasedCompareMapFilterComponent : public pointcloud_preprocess
   PCL_MAKE_ALIGNED_OPERATOR_NEW
   explicit VoxelDistanceBasedCompareMapFilterComponent(const rclcpp::NodeOptions & options);
 };
-}  // namespace compare_map_segmentation
+}  // namespace autoware::compare_map_segmentation
 
 // clang-format off
-#endif  // COMPARE_MAP_SEGMENTATION__VOXEL_DISTANCE_BASED_COMPARE_MAP_FILTER_NODELET_HPP_  // NOLINT
+#endif  // VOXEL_DISTANCE_BASED_COMPARE_MAP_FILTER__NODE_HPP_  // NOLINT
 // clang-format on
diff --git a/perception/compare_map_segmentation/src/voxel_grid_map_loader.cpp b/perception/compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp
similarity index 99%
rename from perception/compare_map_segmentation/src/voxel_grid_map_loader.cpp
rename to perception/compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp
index ef3727019c0f4..b011799e5b912 100644
--- a/perception/compare_map_segmentation/src/voxel_grid_map_loader.cpp
+++ b/perception/compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp
@@ -12,8 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "compare_map_segmentation/voxel_grid_map_loader.hpp"
+#include "voxel_grid_map_loader.hpp"
 
+namespace autoware::compare_map_segmentation
+{
 VoxelGridMapLoader::VoxelGridMapLoader(
   rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis,
   std::string * tf_map_input_frame, std::mutex * mutex)
@@ -462,3 +464,5 @@ void VoxelGridDynamicMapLoader::request_update_map(const geometry_msgs::msg::Poi
     }
   }
 }
+
+}  // namespace autoware::compare_map_segmentation
diff --git a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_grid_map_loader.hpp b/perception/compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp
similarity index 95%
rename from perception/compare_map_segmentation/include/compare_map_segmentation/voxel_grid_map_loader.hpp
rename to perception/compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp
index 21cb19edcd0ec..bc54519a95e47 100644
--- a/perception/compare_map_segmentation/include/compare_map_segmentation/voxel_grid_map_loader.hpp
+++ b/perception/compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPARE_MAP_SEGMENTATION__VOXEL_GRID_MAP_LOADER_HPP_
-#define COMPARE_MAP_SEGMENTATION__VOXEL_GRID_MAP_LOADER_HPP_
+#ifndef VOXEL_GRID_MAP_LOADER__VOXEL_GRID_MAP_LOADER_HPP_
+#define VOXEL_GRID_MAP_LOADER__VOXEL_GRID_MAP_LOADER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_map_msgs/srv/get_differential_point_cloud_map.hpp>
+#include "autoware_map_msgs/srv/get_differential_point_cloud_map.hpp"
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -33,6 +33,8 @@
 #include <utility>
 #include <vector>
 
+namespace autoware::compare_map_segmentation
+{
 template <typename T, typename U>
 double distance3D(const T p1, const U p2)
 {
@@ -138,7 +140,7 @@ class VoxelGridStaticMapLoader : public VoxelGridMapLoader
     rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis,
     std::string * tf_map_input_frame, std::mutex * mutex);
   virtual void onMapCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr map);
-  virtual bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold);
+  bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override;
 };
 
 class VoxelGridDynamicMapLoader : public VoxelGridMapLoader
@@ -199,7 +201,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader
   void timer_callback();
   bool should_update_map() const;
   void request_update_map(const geometry_msgs::msg::Point & position);
-  virtual bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold);
+  bool is_close_to_map(const pcl::PointXYZ & point, const double distance_threshold) override;
   /** \brief Check if point close to map pointcloud in the */
   bool is_close_to_next_map_grid(
     const pcl::PointXYZ & point, const int current_map_grid_index, const double distance_threshold);
@@ -319,4 +321,6 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader
   }
 };
 
-#endif  // COMPARE_MAP_SEGMENTATION__VOXEL_GRID_MAP_LOADER_HPP_
+}  // namespace autoware::compare_map_segmentation
+
+#endif  // VOXEL_GRID_MAP_LOADER__VOXEL_GRID_MAP_LOADER_HPP_