diff --git a/perception/probabilistic_occupancy_grid_map/CMakeLists.txt b/perception/probabilistic_occupancy_grid_map/CMakeLists.txt
index 928532f928e38..d01ef157e21b4 100644
--- a/perception/probabilistic_occupancy_grid_map/CMakeLists.txt
+++ b/perception/probabilistic_occupancy_grid_map/CMakeLists.txt
@@ -14,8 +14,8 @@ include_directories(
 )
 
 ament_auto_add_library(${PROJECT_NAME}_common SHARED
-  src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp
-  src/utils/utils.cpp
+  lib/updater/binary_bayes_filter_updater.cpp
+  lib/utils/utils.cpp
 )
 target_link_libraries(${PROJECT_NAME}_common
   ${PCL_LIBRARIES}
@@ -24,9 +24,9 @@ target_link_libraries(${PROJECT_NAME}_common
 # PointcloudBasedOccupancyGridMap
 ament_auto_add_library(pointcloud_based_occupancy_grid_map SHARED
   src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
-  src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp
-  src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
-  src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
+  lib/costmap_2d/occupancy_grid_map_base.cpp
+  lib/costmap_2d/occupancy_grid_map_fixed.cpp
+  lib/costmap_2d/occupancy_grid_map_projective.cpp
 )
 
 target_link_libraries(pointcloud_based_occupancy_grid_map
@@ -35,14 +35,14 @@ target_link_libraries(pointcloud_based_occupancy_grid_map
 )
 
 rclcpp_components_register_node(pointcloud_based_occupancy_grid_map
-  PLUGIN "occupancy_grid_map::PointcloudBasedOccupancyGridMapNode"
+  PLUGIN "autoware::occupancy_grid_map::PointcloudBasedOccupancyGridMapNode"
   EXECUTABLE pointcloud_based_occupancy_grid_map_node
 )
 
 # LaserscanBasedOccupancyGridMap
 ament_auto_add_library(laserscan_based_occupancy_grid_map SHARED
   src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp
-  src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp
+  lib/costmap_2d/occupancy_grid_map.cpp
 )
 
 target_link_libraries(laserscan_based_occupancy_grid_map
@@ -51,17 +51,17 @@ target_link_libraries(laserscan_based_occupancy_grid_map
 )
 
 rclcpp_components_register_node(laserscan_based_occupancy_grid_map
-  PLUGIN "occupancy_grid_map::LaserscanBasedOccupancyGridMapNode"
+  PLUGIN "autoware::occupancy_grid_map::LaserscanBasedOccupancyGridMapNode"
   EXECUTABLE laserscan_based_occupancy_grid_map_node
 )
 
 # GridMapFusionNode
 ament_auto_add_library(synchronized_grid_map_fusion SHARED
   src/fusion/synchronized_grid_map_fusion_node.cpp
-  src/fusion/single_frame_fusion_policy.cpp
-  src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
-  src/updater/occupancy_grid_map_log_odds_bayes_filter_updater.cpp
-  src/utils/utils.cpp
+  lib/fusion_policy/fusion_policy.cpp
+  lib/costmap_2d/occupancy_grid_map_fixed.cpp
+  lib/updater/log_odds_bayes_filter_updater.cpp
+  lib/utils/utils.cpp
 )
 
 target_link_libraries(synchronized_grid_map_fusion
@@ -69,7 +69,7 @@ target_link_libraries(synchronized_grid_map_fusion
 )
 
 rclcpp_components_register_node(synchronized_grid_map_fusion
-  PLUGIN "synchronized_grid_map_fusion::GridMapFusionNode"
+  PLUGIN "autoware::occupancy_grid_map::GridMapFusionNode"
   EXECUTABLE synchronized_grid_map_fusion_node
 )
 
@@ -88,13 +88,14 @@ if(BUILD_TESTING)
 
   # gtest
   ament_add_gtest(test_utils
-  test/test_utils.cpp
+    test/test_utils.cpp
   )
   ament_add_gtest(costmap_unit_tests
-  test/cost_value_test.cpp)
+    test/cost_value_test.cpp
+  )
   ament_add_gtest(fusion_policy_unit_tests
-  test/fusion_policy_test.cpp
-  src/fusion/single_frame_fusion_policy.cpp
+    test/fusion_policy_test.cpp
+    lib/fusion_policy/fusion_policy.cpp
   )
   target_link_libraries(test_utils
     ${PCL_LIBRARIES}
diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/cost_value.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp
similarity index 90%
rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/cost_value.hpp
rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp
index 880297a1210ed..d470d206c41c6 100644
--- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/cost_value.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp
@@ -48,12 +48,14 @@
  * Author: Eitan Marder-Eppstein
  *********************************************************************/
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE__COST_VALUE_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE__COST_VALUE_HPP_
 
 #include <algorithm>
 
-namespace occupancy_cost_value
+namespace autoware::occupancy_grid_map
+{
+namespace cost_value
 {
 static const unsigned char NO_INFORMATION = 128;  // 0.5 * 255
 static const unsigned char LETHAL_OBSTACLE = 255;
@@ -101,6 +103,8 @@ struct InverseCostTranslationTable
 
 static const CostTranslationTable cost_translation_table;
 static const InverseCostTranslationTable inverse_cost_translation_table;
-}  // namespace occupancy_cost_value
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE_HPP_
+}  // namespace cost_value
+}  // namespace autoware::occupancy_grid_map
+
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE__COST_VALUE_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp
similarity index 91%
rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp
rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp
index d2210cf9c348a..93e768c0f6b4e 100644
--- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp
@@ -49,8 +49,8 @@
  *         David V. Lu!!
  *********************************************************************/
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_HPP_
 
 #include <nav2_costmap_2d/costmap_2d.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -59,6 +59,8 @@
 #include <sensor_msgs/msg/laser_scan.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 using geometry_msgs::msg::Pose;
@@ -90,5 +92,6 @@ class OccupancyGridMap : public nav2_costmap_2d::Costmap2D
 };
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp
similarity index 91%
rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp
rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp
index f01b2d74e160b..2b2057af9cc12 100644
--- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp
@@ -49,8 +49,8 @@
  *         David V. Lu!!
  *********************************************************************/
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_BASE_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_BASE_HPP_
 
 #include <nav2_costmap_2d/costmap_2d.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -59,6 +59,8 @@
 #include <sensor_msgs/msg/laser_scan.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 using geometry_msgs::msg::Pose;
@@ -91,5 +93,6 @@ class OccupancyGridMapInterface : public nav2_costmap_2d::Costmap2D
 };
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_BASE_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp
similarity index 74%
rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp
rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp
index 298f327d632d7..9dfd8b8689123 100644
--- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp
@@ -12,11 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_FIXED_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_FIXED_HPP_
 
-#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp"
 
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 using geometry_msgs::msg::Pose;
@@ -43,5 +45,6 @@ class OccupancyGridMapFixedBlindSpot : public OccupancyGridMapInterface
 };
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_FIXED_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp
similarity index 77%
rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp
rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp
index 67b51d6184c8c..1f0f92d933ff3 100644
--- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp
@@ -12,15 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
 
-#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp"
 
 #include <grid_map_core/GridMap.hpp>
 
 #include <grid_map_msgs/msg/grid_map.hpp>
 
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 using geometry_msgs::msg::Pose;
@@ -51,5 +53,6 @@ class OccupancyGridMapProjectiveBlindSpot : public OccupancyGridMapInterface
 };
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__COSTMAP_2D__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp
similarity index 84%
rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp
rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp
index 1f0553878ef5a..a2d7c90a023a5 100644
--- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION_POLICY__FUSION_POLICY_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION_POLICY__FUSION_POLICY_HPP_
 
-#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"
 
 #include <cmath>
 #include <iostream>
@@ -25,6 +25,8 @@
 /*min and max prob threshold to prevent log-odds to diverge*/
 #define EPSILON_PROB 0.03
 
+namespace autoware::occupancy_grid_map
+{
 namespace fusion_policy
 {
 enum class FusionMethod { OVERWRITE, LOG_ODDS, DEMPSTER_SHAFER };
@@ -61,6 +63,8 @@ unsigned char singleFrameOccupancyFusion(
 unsigned char singleFrameOccupancyFusion(
   const std::vector<unsigned char> & occupancy, FusionMethod method,
   const std::vector<double> & reliability);
+
 }  // namespace fusion_policy
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION_POLICY__FUSION_POLICY_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp
similarity index 72%
rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp
rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp
index 3a921035ef219..af28b7962b3bc 100644
--- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp
@@ -12,14 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__BINARY_BAYES_FILTER_UPDATER_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__BINARY_BAYES_FILTER_UPDATER_HPP_
 
-#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 class OccupancyGridMapBBFUpdater : public OccupancyGridMapUpdaterInterface
@@ -38,5 +40,6 @@ class OccupancyGridMapBBFUpdater : public OccupancyGridMapUpdaterInterface
 };
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__BINARY_BAYES_FILTER_UPDATER_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp
similarity index 69%
rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp
rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp
index 245484e442609..d7bb1184c06d6 100644
--- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
 
-#include "probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp"
-#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
-#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <eigen3/Eigen/Core>
 #include <eigen3/Eigen/Geometry>
@@ -25,6 +25,8 @@
 // LOBF means: Log Odds Bayes Filter
 // cspell: ignore LOBF
 
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 class OccupancyGridMapLOBFUpdater : public OccupancyGridMapUpdaterInterface
@@ -45,5 +47,6 @@ class OccupancyGridMapLOBFUpdater : public OccupancyGridMapUpdaterInterface
 };
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp
similarity index 68%
rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp
rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp
index e85edf2245ef3..75231089ac33c 100644
--- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp
@@ -12,14 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OGM_UPDATER_INTERFACE_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OGM_UPDATER_INTERFACE_HPP_
 
-#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"
 
 #include <nav2_costmap_2d/costmap_2d.hpp>
 #include <rclcpp/node.hpp>
 
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 class OccupancyGridMapUpdaterInterface : public nav2_costmap_2d::Costmap2D
@@ -27,8 +29,7 @@ class OccupancyGridMapUpdaterInterface : public nav2_costmap_2d::Costmap2D
 public:
   OccupancyGridMapUpdaterInterface(
     const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution)
-  : Costmap2D(
-      cells_size_x, cells_size_y, resolution, 0.f, 0.f, occupancy_cost_value::NO_INFORMATION)
+  : Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, cost_value::NO_INFORMATION)
   {
   }
   virtual ~OccupancyGridMapUpdaterInterface() = default;
@@ -37,5 +38,6 @@ class OccupancyGridMapUpdaterInterface : public nav2_costmap_2d::Costmap2D
 };
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OGM_UPDATER_INTERFACE_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/utils/utils.hpp b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp
similarity index 90%
rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/utils/utils.hpp
rename to perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp
index 0950272dac470..50b470d904ef6 100644
--- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/utils/utils.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
+#ifndef AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
+#define AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
 
-#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"
 
 #include <builtin_interfaces/msg/time.hpp>
 #include <pcl_ros/transforms.hpp>
@@ -45,6 +45,8 @@
 #include <cmath>
 #include <vector>
 
+namespace autoware::occupancy_grid_map
+{
 namespace utils
 {
 
@@ -117,6 +119,8 @@ bool extractCommonPointCloud(
   sensor_msgs::msg::PointCloud2 & output_obstacle_pc);
 
 unsigned char getApproximateOccupancyState(const unsigned char & value);
+
 }  // namespace utils
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
+#endif  // AUTOWARE__PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
index 62cfa4bcb5228..1edc538b3de3f 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
+++ b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py
@@ -85,7 +85,7 @@ def launch_setup(context, *args, **kwargs):
         ),
         ComposableNode(
             package="probabilistic_occupancy_grid_map",
-            plugin="occupancy_grid_map::LaserscanBasedOccupancyGridMapNode",
+            plugin="autoware::occupancy_grid_map::LaserscanBasedOccupancyGridMapNode",
             name="occupancy_grid_map_node",
             remappings=[
                 ("~/input/laserscan", LaunchConfiguration("output/laserscan")),
diff --git a/perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py
index b112dd0a84b83..ef40839d2a5aa 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py
+++ b/perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py
@@ -196,7 +196,7 @@ def launch_setup(context, *args, **kwargs):
         # generate composable node
         node = ComposableNode(
             package="probabilistic_occupancy_grid_map",
-            plugin="occupancy_grid_map::PointcloudBasedOccupancyGridMapNode",
+            plugin="autoware::occupancy_grid_map::PointcloudBasedOccupancyGridMapNode",
             name="occupancy_grid_map_node",
             namespace=frame_name,
             remappings=[
diff --git a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
index 0e84e4860fdf3..bb5ef025a7e47 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
+++ b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
@@ -96,7 +96,7 @@ def launch_setup(context, *args, **kwargs):
     composable_nodes.append(
         ComposableNode(
             package="probabilistic_occupancy_grid_map",
-            plugin="occupancy_grid_map::PointcloudBasedOccupancyGridMapNode",
+            plugin="autoware::occupancy_grid_map::PointcloudBasedOccupancyGridMapNode",
             name="occupancy_grid_map_node",
             remappings=[
                 (
diff --git a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map.cpp
similarity index 93%
rename from perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp
rename to perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map.cpp
index 3d02be9ca7156..25eafcd564e2d 100644
--- a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp
+++ b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map.cpp
@@ -49,21 +49,23 @@
  *         David V. Lu!!
  *********************************************************************/
 
-#include "probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp"
 
-#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"
 
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 
 #include <algorithm>
 
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 using sensor_msgs::PointCloud2ConstIterator;
 
 OccupancyGridMap::OccupancyGridMap(
   const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution)
-: Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, occupancy_cost_value::NO_INFORMATION)
+: Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, cost_value::NO_INFORMATION)
 {
 }
 
@@ -140,7 +142,7 @@ void OccupancyGridMap::raytrace2D(const PointCloud2 & pointcloud, const Pose & r
   raytraceFreespace(pointcloud, robot_pose);
 
   // occupied
-  MarkCell marker(costmap_, occupancy_cost_value::LETHAL_OBSTACLE);
+  MarkCell marker(costmap_, cost_value::LETHAL_OBSTACLE);
   for (PointCloud2ConstIterator<float> iter_x(pointcloud, "x"), iter_y(pointcloud, "y");
        iter_x != iter_x.end(); ++iter_x, ++iter_y) {
     unsigned int mx, my;
@@ -155,12 +157,12 @@ void OccupancyGridMap::raytrace2D(const PointCloud2 & pointcloud, const Pose & r
 
 void OccupancyGridMap::updateFreespaceCells(const PointCloud2 & pointcloud)
 {
-  updateCellsByPointCloud(pointcloud, occupancy_cost_value::FREE_SPACE);
+  updateCellsByPointCloud(pointcloud, cost_value::FREE_SPACE);
 }
 
 void OccupancyGridMap::updateOccupiedCells(const PointCloud2 & pointcloud)
 {
-  updateCellsByPointCloud(pointcloud, occupancy_cost_value::LETHAL_OBSTACLE);
+  updateCellsByPointCloud(pointcloud, cost_value::LETHAL_OBSTACLE);
 }
 
 void OccupancyGridMap::updateCellsByPointCloud(
@@ -244,9 +246,10 @@ void OccupancyGridMap::raytraceFreespace(const PointCloud2 & pointcloud, const P
     }
 
     constexpr unsigned int cell_raytrace_range = 10000;  // large number to ignore range threshold
-    MarkCell marker(costmap_, occupancy_cost_value::FREE_SPACE);
+    MarkCell marker(costmap_, cost_value::FREE_SPACE);
     raytraceLine(marker, x0, y0, x1, y1, cell_raytrace_range);
   }
 }
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp
similarity index 95%
rename from perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp
rename to perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp
index 3d176e41583a0..5e9b5598c8f63 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp
+++ b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_base.cpp
@@ -49,10 +49,10 @@
  *         David V. Lu!!
  *********************************************************************/
 
-#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp"
 
-#include "probabilistic_occupancy_grid_map/cost_value.hpp"
-#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <grid_map_costmap_2d/grid_map_costmap_2d.hpp>
 #include <pcl_ros/transforms.hpp>
@@ -69,13 +69,16 @@
 #endif
 
 #include <algorithm>
+
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 using sensor_msgs::PointCloud2ConstIterator;
 
 OccupancyGridMapInterface::OccupancyGridMapInterface(
   const unsigned int cells_size_x, const unsigned int cells_size_y, const float resolution)
-: Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, occupancy_cost_value::NO_INFORMATION)
+: Costmap2D(cells_size_x, cells_size_y, resolution, 0.f, 0.f, cost_value::NO_INFORMATION)
 {
 }
 
@@ -230,3 +233,4 @@ void OccupancyGridMapInterface::raytrace(
 }
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp
similarity index 90%
rename from perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
rename to perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp
index d4e177209f99d..f25009d47bdcc 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
+++ b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_fixed.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp"
 
-#include "probabilistic_occupancy_grid_map/cost_value.hpp"
-#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <grid_map_costmap_2d/grid_map_costmap_2d.hpp>
@@ -33,6 +33,9 @@
 #endif
 
 #include <algorithm>
+
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 using sensor_msgs::PointCloud2ConstIterator;
@@ -136,7 +139,7 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud(
     }
     raytrace(
       scan_origin.position.x, scan_origin.position.y, end_distance.wx, end_distance.wy,
-      occupancy_cost_value::FREE_SPACE);
+      cost_value::FREE_SPACE);
   }
 
   // Second step: Add unknown cell
@@ -162,9 +165,8 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud(
         const auto & source = obstacle_pointcloud_angle_bin.at(dist_index);
         if (!no_freespace_point) {
           const auto & target = *raw_distance_iter;
-          raytrace(
-            source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::NO_INFORMATION);
-          setCellValue(target.wx, target.wy, occupancy_cost_value::FREE_SPACE);
+          raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::NO_INFORMATION);
+          setCellValue(target.wx, target.wy, cost_value::FREE_SPACE);
         }
         continue;
       }
@@ -177,7 +179,7 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud(
       } else if (no_freespace_point) {
         const auto & source = obstacle_pointcloud_angle_bin.at(dist_index);
         const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1);
-        raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::NO_INFORMATION);
+        raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::NO_INFORMATION);
         continue;
       }
 
@@ -186,13 +188,13 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud(
       if (next_raw_distance < next_obstacle_point_distance) {
         const auto & source = obstacle_pointcloud_angle_bin.at(dist_index);
         const auto & target = *raw_distance_iter;
-        raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::NO_INFORMATION);
-        setCellValue(target.wx, target.wy, occupancy_cost_value::FREE_SPACE);
+        raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::NO_INFORMATION);
+        setCellValue(target.wx, target.wy, cost_value::FREE_SPACE);
         continue;
       } else {
         const auto & source = obstacle_pointcloud_angle_bin.at(dist_index);
         const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1);
-        raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::NO_INFORMATION);
+        raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::NO_INFORMATION);
         continue;
       }
     }
@@ -203,7 +205,7 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud(
     auto & obstacle_pointcloud_angle_bin = obstacle_pointcloud_angle_bins.at(bin_index);
     for (size_t dist_index = 0; dist_index < obstacle_pointcloud_angle_bin.size(); ++dist_index) {
       const auto & source = obstacle_pointcloud_angle_bin.at(dist_index);
-      setCellValue(source.wx, source.wy, occupancy_cost_value::LETHAL_OBSTACLE);
+      setCellValue(source.wx, source.wy, cost_value::LETHAL_OBSTACLE);
 
       if (dist_index + 1 == obstacle_pointcloud_angle_bin.size()) {
         continue;
@@ -215,7 +217,7 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud(
       if (next_obstacle_point_distance <= distance_margin_) {
         const auto & source = obstacle_pointcloud_angle_bin.at(dist_index);
         const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1);
-        raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::LETHAL_OBSTACLE);
+        raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::LETHAL_OBSTACLE);
         continue;
       }
     }
@@ -229,3 +231,4 @@ void OccupancyGridMapFixedBlindSpot::initRosParam(rclcpp::Node & node)
 }
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp
similarity index 93%
rename from perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
rename to perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp
index 03d7a42ae7043..a2400fb3c81b2 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
+++ b/perception/probabilistic_occupancy_grid_map/lib/costmap_2d/occupancy_grid_map_projective.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp"
 
-#include "probabilistic_occupancy_grid_map/cost_value.hpp"
-#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <grid_map_costmap_2d/grid_map_costmap_2d.hpp>
@@ -34,6 +34,9 @@
 #endif
 
 #include <algorithm>
+
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 using sensor_msgs::PointCloud2ConstIterator;
@@ -192,7 +195,7 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud(
     }
     raytrace(
       scan_origin.position.x, scan_origin.position.y, ray_end.wx, ray_end.wy,
-      occupancy_cost_value::FREE_SPACE);
+      cost_value::FREE_SPACE);
   }
 
   if (pub_debug_grid_)
@@ -219,7 +222,7 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud(
         const auto & source = obstacle_pointcloud_angle_bin.at(dist_index);
         raytrace(
           source.wx, source.wy, source.projected_wx, source.projected_wy,
-          occupancy_cost_value::NO_INFORMATION);
+          cost_value::NO_INFORMATION);
         break;
       }
 
@@ -227,7 +230,7 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud(
         const auto & source = obstacle_pointcloud_angle_bin.at(dist_index);
         raytrace(
           source.wx, source.wy, source.projected_wx, source.projected_wy,
-          occupancy_cost_value::NO_INFORMATION);
+          cost_value::NO_INFORMATION);
         continue;
       }
 
@@ -243,13 +246,13 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud(
       if (next_raw_distance < next_obstacle_point_distance) {
         const auto & source = obstacle_pointcloud_angle_bin.at(dist_index);
         const auto & target = *raw_distance_iter;
-        raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::NO_INFORMATION);
-        setCellValue(target.wx, target.wy, occupancy_cost_value::FREE_SPACE);
+        raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::NO_INFORMATION);
+        setCellValue(target.wx, target.wy, cost_value::FREE_SPACE);
         continue;
       } else {
         const auto & source = obstacle_pointcloud_angle_bin.at(dist_index);
         const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1);
-        raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::NO_INFORMATION);
+        raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::NO_INFORMATION);
         continue;
       }
     }
@@ -262,7 +265,7 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud(
     auto & obstacle_pointcloud_angle_bin = obstacle_pointcloud_angle_bins.at(bin_index);
     for (size_t dist_index = 0; dist_index < obstacle_pointcloud_angle_bin.size(); ++dist_index) {
       const auto & source = obstacle_pointcloud_angle_bin.at(dist_index);
-      setCellValue(source.wx, source.wy, occupancy_cost_value::LETHAL_OBSTACLE);
+      setCellValue(source.wx, source.wy, cost_value::LETHAL_OBSTACLE);
 
       if (dist_index + 1 == obstacle_pointcloud_angle_bin.size()) {
         continue;
@@ -274,7 +277,7 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud(
       if (next_obstacle_point_distance <= obstacle_separation_threshold_) {
         const auto & source = obstacle_pointcloud_angle_bin.at(dist_index);
         const auto & target = obstacle_pointcloud_angle_bin.at(dist_index + 1);
-        raytrace(source.wx, source.wy, target.wx, target.wy, occupancy_cost_value::LETHAL_OBSTACLE);
+        raytrace(source.wx, source.wy, target.wx, target.wy, cost_value::LETHAL_OBSTACLE);
         continue;
       }
     }
@@ -299,3 +302,4 @@ void OccupancyGridMapProjectiveBlindSpot::initRosParam(rclcpp::Node & node)
 }
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
diff --git a/perception/probabilistic_occupancy_grid_map/src/fusion/single_frame_fusion_policy.cpp b/perception/probabilistic_occupancy_grid_map/lib/fusion_policy/fusion_policy.cpp
similarity index 97%
rename from perception/probabilistic_occupancy_grid_map/src/fusion/single_frame_fusion_policy.cpp
rename to perception/probabilistic_occupancy_grid_map/lib/fusion_policy/fusion_policy.cpp
index 7e2c3f7ba304a..1e88b7a39fd14 100644
--- a/perception/probabilistic_occupancy_grid_map/src/fusion/single_frame_fusion_policy.cpp
+++ b/perception/probabilistic_occupancy_grid_map/lib/fusion_policy/fusion_policy.cpp
@@ -12,8 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp"
 
+namespace autoware::occupancy_grid_map
+{
 namespace fusion_policy
 {
 
@@ -61,9 +63,9 @@ namespace overwrite_fusion
  */
 State getApproximateState(const unsigned char & occupancy)
 {
-  if (occupancy >= occupancy_cost_value::OCCUPIED_THRESHOLD) {
+  if (occupancy >= cost_value::OCCUPIED_THRESHOLD) {
     return State::OCCUPIED;
-  } else if (occupancy <= occupancy_cost_value::FREE_THRESHOLD) {
+  } else if (occupancy <= cost_value::FREE_THRESHOLD) {
     return State::FREE;
   } else {
     return State::UNKNOWN;
@@ -320,3 +322,4 @@ unsigned char singleFrameOccupancyFusion(
 }
 
 }  // namespace fusion_policy
+}  // namespace autoware::occupancy_grid_map
diff --git a/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp b/perception/probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater.cpp
similarity index 88%
rename from perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp
rename to perception/probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater.cpp
index 40f538a64f6e9..74506d095b36d 100644
--- a/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp
+++ b/perception/probabilistic_occupancy_grid_map/lib/updater/binary_bayes_filter_updater.cpp
@@ -12,12 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp"
 
-#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"
 
 #include <algorithm>
 
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 
@@ -48,15 +50,15 @@ inline unsigned char OccupancyGridMapBBFUpdater::applyBBF(
   float pz{};
   float not_pz{};
   float po_hat{};
-  if (z == occupancy_cost_value::LETHAL_OBSTACLE) {
+  if (z == cost_value::LETHAL_OBSTACLE) {
     pz = probability_matrix_(Index::OCCUPIED, Index::OCCUPIED);
     not_pz = probability_matrix_(Index::FREE, Index::OCCUPIED);
     po_hat = ((po * pz) / ((po * pz) + ((1.f - po) * not_pz)));
-  } else if (z == occupancy_cost_value::FREE_SPACE) {
+  } else if (z == cost_value::FREE_SPACE) {
     pz = 1.f - probability_matrix_(Index::FREE, Index::FREE);
     not_pz = 1.f - probability_matrix_(Index::OCCUPIED, Index::FREE);
     po_hat = ((po * pz) / ((po * pz) + ((1.f - po) * not_pz)));
-  } else if (z == occupancy_cost_value::NO_INFORMATION) {
+  } else if (z == cost_value::NO_INFORMATION) {
     const float inv_v_ratio = 1.f / v_ratio_;
     po_hat = ((po + (0.5f * inv_v_ratio)) / ((1.f * inv_v_ratio) + 1.f));
   }
@@ -79,3 +81,4 @@ bool OccupancyGridMapBBFUpdater::update(const Costmap2D & single_frame_occupancy
 }
 
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
diff --git a/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_log_odds_bayes_filter_updater.cpp b/perception/probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater.cpp
similarity index 88%
rename from perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_log_odds_bayes_filter_updater.cpp
rename to perception/probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater.cpp
index 607694d6da571..9f3c3c7e40eaf 100644
--- a/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_log_odds_bayes_filter_updater.cpp
+++ b/perception/probabilistic_occupancy_grid_map/lib/updater/log_odds_bayes_filter_updater.cpp
@@ -12,14 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp"
 
-#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"
 
 #include <algorithm>
 
 // cspell: ignore LOBF
 
+namespace autoware::occupancy_grid_map
+{
 namespace costmap_2d
 {
 
@@ -35,7 +37,7 @@ inline unsigned char OccupancyGridMapLOBFUpdater::applyLOBF(
   using fusion_policy::convertProbabilityToChar;
   using fusion_policy::log_odds_fusion::logOddsFusion;
 
-  constexpr unsigned char unknown = occupancy_cost_value::NO_INFORMATION;
+  constexpr unsigned char unknown = cost_value::NO_INFORMATION;
   constexpr unsigned char unknown_margin = 1;
   /* Tau and ST decides how fast the observation decay to the unknown status*/
   constexpr double tau = 0.75;
@@ -68,4 +70,6 @@ bool OccupancyGridMapLOBFUpdater::update(const Costmap2D & single_frame_occupanc
   }
   return true;
 }
+
 }  // namespace costmap_2d
+}  // namespace autoware::occupancy_grid_map
diff --git a/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp b/perception/probabilistic_occupancy_grid_map/lib/utils/utils.cpp
similarity index 95%
rename from perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp
rename to perception/probabilistic_occupancy_grid_map/lib/utils/utils.cpp
index 209207fe10f34..e8c2cdb2617df 100644
--- a/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp
+++ b/perception/probabilistic_occupancy_grid_map/lib/utils/utils.cpp
@@ -12,12 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <string>
 
+namespace autoware::occupancy_grid_map
+{
 namespace utils
 {
 
@@ -189,13 +191,14 @@ bool extractCommonPointCloud(
  */
 unsigned char getApproximateOccupancyState(const unsigned char & value)
 {
-  if (value >= occupancy_cost_value::OCCUPIED_THRESHOLD) {
-    return occupancy_cost_value::LETHAL_OBSTACLE;
-  } else if (value <= occupancy_cost_value::FREE_THRESHOLD) {
-    return occupancy_cost_value::FREE_SPACE;
+  if (value >= cost_value::OCCUPIED_THRESHOLD) {
+    return cost_value::LETHAL_OBSTACLE;
+  } else if (value <= cost_value::FREE_THRESHOLD) {
+    return cost_value::FREE_SPACE;
   } else {
-    return occupancy_cost_value::NO_INFORMATION;
+    return cost_value::NO_INFORMATION;
   }
 }
 
 }  // namespace utils
+}  // namespace autoware::occupancy_grid_map
diff --git a/perception/probabilistic_occupancy_grid_map/package.xml b/perception/probabilistic_occupancy_grid_map/package.xml
index d8ae702ef60ca..d8647ae2ba744 100644
--- a/perception/probabilistic_occupancy_grid_map/package.xml
+++ b/perception/probabilistic_occupancy_grid_map/package.xml
@@ -13,9 +13,9 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
+  <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_universe_utils</depend>
-  <depend>eigen3_cmake_module</depend>
   <depend>grid_map_costmap_2d</depend>
   <depend>grid_map_msgs</depend>
   <depend>grid_map_ros</depend>
@@ -27,12 +27,9 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
-  <depend>tf2</depend>
   <depend>tf2_eigen</depend>
-  <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_sensor_msgs</depend>
-  <depend>visualization_msgs</depend>
 
   <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>pointcloud_to_laserscan</exec_depend>
diff --git a/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp b/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp
index fa93db802b0ce..a271e17a1e566 100644
--- a/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp"
+#include "synchronized_grid_map_fusion_node.hpp"
 
-#include "probabilistic_occupancy_grid_map/cost_value.hpp"
-#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 // cspell: ignore LOBF
 
-namespace synchronized_grid_map_fusion
+namespace autoware::occupancy_grid_map
 {
 using costmap_2d::OccupancyGridMapFixedBlindSpot;
 using costmap_2d::OccupancyGridMapLOBFUpdater;
@@ -404,7 +404,7 @@ nav2_costmap_2d::Costmap2D GridMapFusionNode::OccupancyGridMsgToCostmap2D(
     for (unsigned int j = 0; j < occupancy_grid_map.info.height; j++) {
       const unsigned int index = i + j * occupancy_grid_map.info.width;
       costmap2d.setCost(
-        i, j, occupancy_cost_value::inverse_cost_translation_table[occupancy_grid_map.data[index]]);
+        i, j, cost_value::inverse_cost_translation_table[occupancy_grid_map.data[index]]);
     }
   }
 
@@ -424,7 +424,7 @@ OccupancyGridMapFixedBlindSpot GridMapFusionNode::OccupancyGridMsgToGridMap(
     for (unsigned int j = 0; j < occupancy_grid_map.info.height; j++) {
       const unsigned int index = i + j * occupancy_grid_map.info.width;
       gridmap.setCost(
-        i, j, occupancy_cost_value::inverse_cost_translation_table[occupancy_grid_map.data[index]]);
+        i, j, cost_value::inverse_cost_translation_table[occupancy_grid_map.data[index]]);
     }
   }
   return gridmap;
@@ -453,14 +453,14 @@ nav_msgs::msg::OccupancyGrid::UniquePtr GridMapFusionNode::OccupancyGridMapToMsg
 
   msg_ptr->data.resize(msg_ptr->info.width * msg_ptr->info.height);
 
-  unsigned char * data = occupancy_grid_map.getCharMap();
+  const unsigned char * data = occupancy_grid_map.getCharMap();
   for (unsigned int i = 0; i < msg_ptr->data.size(); ++i) {
-    msg_ptr->data[i] = occupancy_cost_value::cost_translation_table[data[i]];
+    msg_ptr->data[i] = cost_value::cost_translation_table[data[i]];
   }
   return msg_ptr;
 }
 
-}  // namespace synchronized_grid_map_fusion
+}  // namespace autoware::occupancy_grid_map
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(synchronized_grid_map_fusion::GridMapFusionNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::occupancy_grid_map::GridMapFusionNode)
diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp b/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp
similarity index 85%
rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp
rename to perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp
index 84ca13c8b1881..c839f160aab9b 100644
--- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp
+++ b/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
+#ifndef FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
+#define FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
 
-#include "probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp"
-#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp"
-#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp"
-#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/updater/log_odds_bayes_filter_updater.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp"
 
 #include <autoware/universe_utils/ros/debug_publisher.hpp>
 #include <autoware/universe_utils/system/stop_watch.hpp>
@@ -45,7 +45,7 @@
 
 // cspell: ignore LOBF
 
-namespace synchronized_grid_map_fusion
+namespace autoware::occupancy_grid_map
 {
 
 using costmap_2d::OccupancyGridMapFixedBlindSpot;
@@ -124,6 +124,6 @@ class GridMapFusionNode : public rclcpp::Node
   fusion_policy::FusionMethod fusion_method_;
 };
 
-}  // namespace synchronized_grid_map_fusion
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
+#endif  // FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp
index 777c180fe1a3a..6c4ad8135b37d 100644
--- a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp"
+#include "laserscan_based_occupancy_grid_map_node.hpp"
 
-#include "probabilistic_occupancy_grid_map/cost_value.hpp"
-#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <pcl_ros/transforms.hpp>
 
@@ -35,7 +35,7 @@
 #include <memory>
 #include <string>
 
-namespace occupancy_grid_map
+namespace autoware::occupancy_grid_map
 {
 using costmap_2d::OccupancyGridMap;
 using costmap_2d::OccupancyGridMapBBFUpdater;
@@ -229,12 +229,12 @@ OccupancyGrid::UniquePtr LaserscanBasedOccupancyGridMapNode::OccupancyGridMapToM
 
   unsigned char * data = occupancy_grid_map.getCharMap();
   for (unsigned int i = 0; i < msg_ptr->data.size(); ++i) {
-    msg_ptr->data[i] = occupancy_cost_value::cost_translation_table[data[i]];
+    msg_ptr->data[i] = cost_value::cost_translation_table[data[i]];
   }
   return msg_ptr;
 }
 
-}  // namespace occupancy_grid_map
+}  // namespace autoware::occupancy_grid_map
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(occupancy_grid_map::LaserscanBasedOccupancyGridMapNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::occupancy_grid_map::LaserscanBasedOccupancyGridMapNode)
diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp
similarity index 82%
rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp
rename to perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp
index a8adea6e700e5..a599f7b564c8b 100644
--- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp
+++ b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
+#ifndef LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
+#define LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
 
-#include "probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp"
-#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp"
-#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp"
 
 #include <builtin_interfaces/msg/time.hpp>
 #include <laser_geometry/laser_geometry.hpp>
@@ -36,7 +36,7 @@
 #include <memory>
 #include <string>
 
-namespace occupancy_grid_map
+namespace autoware::occupancy_grid_map
 {
 using builtin_interfaces::msg::Time;
 using costmap_2d::OccupancyGridMapUpdaterInterface;
@@ -100,6 +100,6 @@ class LaserscanBasedOccupancyGridMapNode : public rclcpp::Node
   bool enable_single_frame_mode_;
 };
 
-}  // namespace occupancy_grid_map
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
+#endif  // LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
index d019280aefda0..3fe75263b3f28 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp"
+#include "pointcloud_based_occupancy_grid_map_node.hpp"
 
-#include "probabilistic_occupancy_grid_map/cost_value.hpp"
-#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp"
-#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp"
-#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_fixed.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_projective.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <autoware/universe_utils/ros/debug_publisher.hpp>
 #include <autoware/universe_utils/system/stop_watch.hpp>
@@ -40,7 +40,7 @@
 #include <memory>
 #include <string>
 
-namespace occupancy_grid_map
+namespace autoware::occupancy_grid_map
 {
 using costmap_2d::OccupancyGridMapBBFUpdater;
 using costmap_2d::OccupancyGridMapFixedBlindSpot;
@@ -250,12 +250,12 @@ OccupancyGrid::UniquePtr PointcloudBasedOccupancyGridMapNode::OccupancyGridMapTo
 
   unsigned char * data = occupancy_grid_map.getCharMap();
   for (unsigned int i = 0; i < msg_ptr->data.size(); ++i) {
-    msg_ptr->data[i] = occupancy_cost_value::cost_translation_table[data[i]];
+    msg_ptr->data[i] = cost_value::cost_translation_table[data[i]];
   }
   return msg_ptr;
 }
 
-}  // namespace occupancy_grid_map
+}  // namespace autoware::occupancy_grid_map
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(occupancy_grid_map::PointcloudBasedOccupancyGridMapNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::occupancy_grid_map::PointcloudBasedOccupancyGridMapNode)
diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp
similarity index 81%
rename from perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp
rename to perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp
index 1d119102dc28d..e0c7ef74988f4 100644
--- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp
+++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
-#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
+#ifndef POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
+#define POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
 
-#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
-#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp"
-#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/costmap_2d/occupancy_grid_map_base.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/updater/binary_bayes_filter_updater.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/updater/ogm_updater_interface.hpp"
 
 #include <autoware/universe_utils/ros/debug_publisher.hpp>
 #include <autoware/universe_utils/system/stop_watch.hpp>
@@ -38,7 +38,7 @@
 #include <memory>
 #include <string>
 
-namespace occupancy_grid_map
+namespace autoware::occupancy_grid_map
 {
 using builtin_interfaces::msg::Time;
 using costmap_2d::OccupancyGridMapInterface;
@@ -93,6 +93,6 @@ class PointcloudBasedOccupancyGridMapNode : public rclcpp::Node
   bool filter_obstacle_pointcloud_by_raw_pointcloud_;
 };
 
-}  // namespace occupancy_grid_map
+}  // namespace autoware::occupancy_grid_map
 
-#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
+#endif  // POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/test/cost_value_test.cpp b/perception/probabilistic_occupancy_grid_map/test/cost_value_test.cpp
index c41c809a92b0c..f03852562f7ca 100644
--- a/perception/probabilistic_occupancy_grid_map/test/cost_value_test.cpp
+++ b/perception/probabilistic_occupancy_grid_map/test/cost_value_test.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"
 
 #include <gtest/gtest.h>
 
 // Test the CostTranslationTable and InverseCostTranslationTable functions
-using occupancy_cost_value::cost_translation_table;
-using occupancy_cost_value::inverse_cost_translation_table;
+using autoware::occupancy_grid_map::cost_value::cost_translation_table;
+using autoware::occupancy_grid_map::cost_value::inverse_cost_translation_table;
 
 TEST(CostTranslationTableTest, TestRange)
 {
diff --git a/perception/probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp b/perception/probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp
index 6b3dc8a2ebcef..78137371c720e 100644
--- a/perception/probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp
+++ b/perception/probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp
@@ -12,15 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "probabilistic_occupancy_grid_map/cost_value.hpp"
-#include "probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/fusion_policy/fusion_policy.hpp"
+
+#include "autoware/probabilistic_occupancy_grid_map/cost_value/cost_value.hpp"
 
 #include <gtest/gtest.h>
 
 // Test the log-odds update rule
 TEST(FusionPolicyTest, TestLogOddsUpdateRule)
 {
-  using fusion_policy::log_odds_fusion::logOddsFusion;
+  using autoware::occupancy_grid_map::fusion_policy::log_odds_fusion::logOddsFusion;
   const double MARGIN = 0.03;
   const double OCCUPIED = 1.0 - MARGIN;
   const double FREE = 0.0 + MARGIN;
@@ -49,7 +50,7 @@ TEST(FusionPolicyTest, TestLogOddsUpdateRule)
 // Test the dempster-shafer update rule
 TEST(FusionPolicyTest, TestDempsterShaferUpdateRule)
 {
-  using fusion_policy::dempster_shafer_fusion::dempsterShaferFusion;
+  using autoware::occupancy_grid_map::fusion_policy::dempster_shafer_fusion::dempsterShaferFusion;
   const double MARGIN = 0.03;
   const double OCCUPIED = 1.0 - MARGIN;
   const double FREE = 0.0 + MARGIN;
diff --git a/perception/probabilistic_occupancy_grid_map/test/test_utils.cpp b/perception/probabilistic_occupancy_grid_map/test/test_utils.cpp
index 4bc3dca0a67bd..17df981d849d4 100644
--- a/perception/probabilistic_occupancy_grid_map/test/test_utils.cpp
+++ b/perception/probabilistic_occupancy_grid_map/test/test_utils.cpp
@@ -13,7 +13,7 @@
 // limitations under the License.
 
 // autoware
-#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
+#include "autoware/probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <gtest/gtest.h>
 
@@ -77,14 +77,14 @@ TEST(TestUtils, TestCropPointcloudByHeight)
   sensor_msgs::msg::PointCloud2 test1_output, test2_output, test3_output;
 
   // case1: normal input, normal output
-  EXPECT_NO_THROW(
-    utils::cropPointcloudByHeight(ros_cloud_10, mock_buffer, "base_link", 0.0, 10.0, test1_output));
+  EXPECT_NO_THROW(autoware::occupancy_grid_map::utils::cropPointcloudByHeight(
+    ros_cloud_10, mock_buffer, "base_link", 0.0, 10.0, test1_output));
 
   // case2: normal input, empty output
-  EXPECT_NO_THROW(utils::cropPointcloudByHeight(
+  EXPECT_NO_THROW(autoware::occupancy_grid_map::utils::cropPointcloudByHeight(
     ros_cloud_10, mock_buffer, "base_link", -2.0, -0.1, test2_output));
 
   // case3: empty input, normal output
-  EXPECT_NO_THROW(
-    utils::cropPointcloudByHeight(ros_cloud_0, mock_buffer, "base_link", 0.0, 10.0, test3_output));
+  EXPECT_NO_THROW(autoware::occupancy_grid_map::utils::cropPointcloudByHeight(
+    ros_cloud_0, mock_buffer, "base_link", 0.0, 10.0, test3_output));
 }