From a7a9e41a45eec90839aae5ba40e7a13781eaf6a6 Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve.fernandez@tier4.jp>
Date: Wed, 16 Oct 2024 11:10:52 +0200
Subject: [PATCH 1/3] refactor(component_interface_specs): prefix package and
 namespace with autoware

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
---
 .../CMakeLists.txt                            |  2 +-
 .../README.md                                 |  2 +-
 .../component_interface_specs/control.hpp     | 10 +--
 .../localization.hpp                          | 10 +--
 .../component_interface_specs/map.hpp         | 10 +--
 .../component_interface_specs/perception.hpp  | 10 +--
 .../component_interface_specs/planning.hpp    | 10 +--
 .../component_interface_specs/system.hpp      | 10 +--
 .../component_interface_specs/vehicle.hpp     | 10 +--
 .../package.xml                               |  4 +-
 .../test/gtest_main.cpp                       |  0
 .../test/test_control.cpp                     |  8 +-
 .../test/test_localization.cpp                |  8 +-
 .../test/test_map.cpp                         |  4 +-
 .../test/test_perception.cpp                  |  4 +-
 .../test/test_planning.cpp                    |  8 +-
 .../test/test_system.cpp                      |  6 +-
 .../test/test_vehicle.cpp                     | 12 +--
 .../autoware_test_utils.hpp                   |  2 +-
 common/autoware_test_utils/package.xml        |  2 +-
 .../package.xml                               |  2 +-
 .../src/node.hpp                              | 11 ++-
 control/autoware_vehicle_cmd_gate/package.xml |  2 +-
 .../src/adapi_pause_interface.hpp             |  8 +-
 .../src/moderate_stop_interface.hpp           |  8 +-
 .../predicted_path_checker_node.hpp           | 15 ++--
 control/predicted_path_checker/package.xml    |  2 +-
 .../predicted_path_checker_node.cpp           |  6 +-
 .../autoware_geo_pose_projector/package.xml   |  2 +-
 .../src/geo_pose_projector.hpp                |  4 +-
 .../autoware_pose_initializer/package.xml     |  2 +-
 .../src/ekf_localization_trigger_module.cpp   |  4 +-
 .../src/gnss_module.cpp                       |  4 +-
 .../src/localization_module.cpp               |  4 +-
 .../src/ndt_localization_trigger_module.cpp   |  4 +-
 .../src/pose_initializer_core.hpp             |  6 +-
 .../map_projection_loader.hpp                 |  4 +-
 .../package.xml                               |  2 +-
 .../map_loader/lanelet2_map_loader_node.hpp   |  4 +-
 map/map_loader/package.xml                    |  2 +-
 .../autoware_planning_test_manager.hpp        |  2 +-
 .../package.xml                               |  2 +-
 .../autoware/gnss_poser/gnss_poser_node.hpp   |  4 +-
 sensing/autoware_gnss_poser/package.xml       |  2 +-
 system/autoware_default_adapi/package.xml     |  2 +-
 .../autoware_default_adapi/src/fail_safe.hpp  |  4 +-
 .../src/localization.hpp                      |  6 +-
 system/autoware_default_adapi/src/motion.cpp  | 10 ++-
 system/autoware_default_adapi/src/motion.hpp  | 17 +++--
 .../src/operation_mode.hpp                    | 14 ++--
 .../autoware_default_adapi/src/perception.cpp |  3 +-
 .../autoware_default_adapi/src/perception.hpp |  8 +-
 .../autoware_default_adapi/src/planning.hpp   | 14 ++--
 system/autoware_default_adapi/src/routing.cpp |  3 +-
 system/autoware_default_adapi/src/routing.hpp | 29 ++++---
 system/autoware_default_adapi/src/vehicle.cpp | 25 +++---
 system/autoware_default_adapi/src/vehicle.hpp | 76 +++++++++++--------
 .../src/vehicle_door.cpp                      |  7 +-
 .../src/vehicle_door.hpp                      | 15 ++--
 59 files changed, 263 insertions(+), 208 deletions(-)
 rename common/{component_interface_specs => autoware_component_interface_specs}/CMakeLists.txt (90%)
 rename common/{component_interface_specs => autoware_component_interface_specs}/README.md (61%)
 rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/control.hpp (87%)
 rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/localization.hpp (85%)
 rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/map.hpp (77%)
 rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/perception.hpp (76%)
 rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/planning.hpp (89%)
 rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/system.hpp (86%)
 rename common/{component_interface_specs/include => autoware_component_interface_specs/include/autoware}/component_interface_specs/vehicle.hpp (91%)
 rename common/{component_interface_specs => autoware_component_interface_specs}/package.xml (90%)
 rename common/{component_interface_specs => autoware_component_interface_specs}/test/gtest_main.cpp (100%)
 rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_control.cpp (83%)
 rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_localization.cpp (82%)
 rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_map.cpp (87%)
 rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_perception.cpp (86%)
 rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_planning.cpp (82%)
 rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_system.cpp (83%)
 rename common/{component_interface_specs => autoware_component_interface_specs}/test/test_vehicle.cpp (79%)

diff --git a/common/component_interface_specs/CMakeLists.txt b/common/autoware_component_interface_specs/CMakeLists.txt
similarity index 90%
rename from common/component_interface_specs/CMakeLists.txt
rename to common/autoware_component_interface_specs/CMakeLists.txt
index 146f3688513cd..a4e93cc8f04f9 100644
--- a/common/component_interface_specs/CMakeLists.txt
+++ b/common/autoware_component_interface_specs/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(component_interface_specs)
+project(autoware_component_interface_specs)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
diff --git a/common/component_interface_specs/README.md b/common/autoware_component_interface_specs/README.md
similarity index 61%
rename from common/component_interface_specs/README.md
rename to common/autoware_component_interface_specs/README.md
index b9fcd83a29dc0..9d9298a95e329 100644
--- a/common/component_interface_specs/README.md
+++ b/common/autoware_component_interface_specs/README.md
@@ -1,3 +1,3 @@
-# component_interface_specs
+# autoware_component_interface_specs
 
 This package is a specification of component interfaces.
diff --git a/common/component_interface_specs/include/component_interface_specs/control.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp
similarity index 87%
rename from common/component_interface_specs/include/component_interface_specs/control.hpp
rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp
index dfa708dd33403..ead0ae859c14a 100644
--- a/common/component_interface_specs/include/component_interface_specs/control.hpp
+++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
-#define COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
 
 #include <rclcpp/qos.hpp>
 
@@ -23,7 +23,7 @@
 #include <tier4_control_msgs/srv/set_pause.hpp>
 #include <tier4_control_msgs/srv/set_stop.hpp>
 
-namespace control_interface
+namespace autoware::component_interface_specs::control_interface
 {
 
 struct SetPause
@@ -65,6 +65,6 @@ struct IsStopped
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace control_interface
+}  // namespace autoware::component_interface_specs::control_interface
 
-#endif  // COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
diff --git a/common/component_interface_specs/include/component_interface_specs/localization.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp
similarity index 85%
rename from common/component_interface_specs/include/component_interface_specs/localization.hpp
rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp
index e00d8cef1840d..b854d4a230731 100644
--- a/common/component_interface_specs/include/component_interface_specs/localization.hpp
+++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
-#define COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
 
 #include <rclcpp/qos.hpp>
 
@@ -22,7 +22,7 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <tier4_localization_msgs/srv/initialize_localization.hpp>
 
-namespace localization_interface
+namespace autoware::component_interface_specs::localization_interface
 {
 
 struct Initialize
@@ -58,6 +58,6 @@ struct Acceleration
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace localization_interface
+}  // namespace autoware::component_interface_specs::localization_interface
 
-#endif  // COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
diff --git a/common/component_interface_specs/include/component_interface_specs/map.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp
similarity index 77%
rename from common/component_interface_specs/include/component_interface_specs/map.hpp
rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp
index dc162d4a7267a..58cea59338b5b 100644
--- a/common/component_interface_specs/include/component_interface_specs/map.hpp
+++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPONENT_INTERFACE_SPECS__MAP_HPP_
-#define COMPONENT_INTERFACE_SPECS__MAP_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_
 
 #include <rclcpp/qos.hpp>
 
 #include <tier4_map_msgs/msg/map_projector_info.hpp>
 
-namespace map_interface
+namespace autoware::component_interface_specs::map_interface
 {
 
 struct MapProjectorInfo
@@ -31,6 +31,6 @@ struct MapProjectorInfo
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace map_interface
+}  // namespace autoware::component_interface_specs::map_interface
 
-#endif  // COMPONENT_INTERFACE_SPECS__MAP_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_
diff --git a/common/component_interface_specs/include/component_interface_specs/perception.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp
similarity index 76%
rename from common/component_interface_specs/include/component_interface_specs/perception.hpp
rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp
index 0c72dbdb12078..fe441360d4d44 100644
--- a/common/component_interface_specs/include/component_interface_specs/perception.hpp
+++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
-#define COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
 
 #include <rclcpp/qos.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 
-namespace perception_interface
+namespace autoware::component_interface_specs::perception_interface
 {
 
 struct ObjectRecognition
@@ -31,6 +31,6 @@ struct ObjectRecognition
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace perception_interface
+}  // namespace autoware::component_interface_specs::perception_interface
 
-#endif  // COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
diff --git a/common/component_interface_specs/include/component_interface_specs/planning.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp
similarity index 89%
rename from common/component_interface_specs/include/component_interface_specs/planning.hpp
rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp
index 58aba53d8ac8a..e4b97bda94d95 100644
--- a/common/component_interface_specs/include/component_interface_specs/planning.hpp
+++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
-#define COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
 
 #include <rclcpp/qos.hpp>
 
@@ -24,7 +24,7 @@
 #include <tier4_planning_msgs/srv/set_lanelet_route.hpp>
 #include <tier4_planning_msgs/srv/set_waypoint_route.hpp>
 
-namespace planning_interface
+namespace autoware::component_interface_specs::planning_interface
 {
 
 struct SetLaneletRoute
@@ -73,6 +73,6 @@ struct Trajectory
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace planning_interface
+}  // namespace autoware::component_interface_specs::planning_interface
 
-#endif  // COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
diff --git a/common/component_interface_specs/include/component_interface_specs/system.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp
similarity index 86%
rename from common/component_interface_specs/include/component_interface_specs/system.hpp
rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp
index 2132d16dd2969..0274142744f2e 100644
--- a/common/component_interface_specs/include/component_interface_specs/system.hpp
+++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_
-#define COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_
 
 #include <rclcpp/qos.hpp>
 
@@ -22,7 +22,7 @@
 #include <tier4_system_msgs/srv/change_autoware_control.hpp>
 #include <tier4_system_msgs/srv/change_operation_mode.hpp>
 
-namespace system_interface
+namespace autoware::component_interface_specs::system_interface
 {
 
 struct MrmState
@@ -55,6 +55,6 @@ struct OperationModeState
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace system_interface
+}  // namespace autoware::component_interface_specs::system_interface
 
-#endif  // COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_
diff --git a/common/component_interface_specs/include/component_interface_specs/vehicle.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp
similarity index 91%
rename from common/component_interface_specs/include/component_interface_specs/vehicle.hpp
rename to common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp
index e7ce2c5212a25..13939e5f1b86d 100644
--- a/common/component_interface_specs/include/component_interface_specs/vehicle.hpp
+++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_
-#define COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_
+#ifndef AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_
+#define AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_
 
 #include <rclcpp/qos.hpp>
 
@@ -26,7 +26,7 @@
 #include <autoware_vehicle_msgs/msg/turn_indicators_report.hpp>
 #include <tier4_vehicle_msgs/msg/battery_status.hpp>
 
-namespace vehicle_interface
+namespace autoware::component_interface_specs::vehicle_interface
 {
 
 struct SteeringStatus
@@ -95,6 +95,6 @@ struct DoorStatus
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace vehicle_interface
+}  // namespace autoware::component_interface_specs::vehicle_interface
 
-#endif  // COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_
+#endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_
diff --git a/common/component_interface_specs/package.xml b/common/autoware_component_interface_specs/package.xml
similarity index 90%
rename from common/component_interface_specs/package.xml
rename to common/autoware_component_interface_specs/package.xml
index fa57bb1641eed..3e53968a94d61 100644
--- a/common/component_interface_specs/package.xml
+++ b/common/autoware_component_interface_specs/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>component_interface_specs</name>
+  <name>autoware_component_interface_specs</name>
   <version>0.0.0</version>
-  <description>The component_interface_specs package</description>
+  <description>The autoware_component_interface_specs package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/component_interface_specs/test/gtest_main.cpp b/common/autoware_component_interface_specs/test/gtest_main.cpp
similarity index 100%
rename from common/component_interface_specs/test/gtest_main.cpp
rename to common/autoware_component_interface_specs/test/gtest_main.cpp
diff --git a/common/component_interface_specs/test/test_control.cpp b/common/autoware_component_interface_specs/test/test_control.cpp
similarity index 83%
rename from common/component_interface_specs/test/test_control.cpp
rename to common/autoware_component_interface_specs/test/test_control.cpp
index 366641eacbd23..5db6bfb4c48f2 100644
--- a/common/component_interface_specs/test/test_control.cpp
+++ b/common/autoware_component_interface_specs/test/test_control.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "component_interface_specs/control.hpp"
+#include "autoware/component_interface_specs/control.hpp"
 #include "gtest/gtest.h"
 
 TEST(control, interface)
 {
   {
-    using control_interface::IsPaused;
+    using autoware::component_interface_specs::control_interface::IsPaused;
     IsPaused is_paused;
     size_t depth = 1;
     EXPECT_EQ(is_paused.depth, depth);
@@ -27,7 +27,7 @@ TEST(control, interface)
   }
 
   {
-    using control_interface::IsStartRequested;
+    using autoware::component_interface_specs::control_interface::IsStartRequested;
     IsStartRequested is_start_requested;
     size_t depth = 1;
     EXPECT_EQ(is_start_requested.depth, depth);
@@ -36,7 +36,7 @@ TEST(control, interface)
   }
 
   {
-    using control_interface::IsStopped;
+    using autoware::component_interface_specs::control_interface::IsStopped;
     IsStopped is_stopped;
     size_t depth = 1;
     EXPECT_EQ(is_stopped.depth, depth);
diff --git a/common/component_interface_specs/test/test_localization.cpp b/common/autoware_component_interface_specs/test/test_localization.cpp
similarity index 82%
rename from common/component_interface_specs/test/test_localization.cpp
rename to common/autoware_component_interface_specs/test/test_localization.cpp
index 31d8e139bd69a..5d6036e274802 100644
--- a/common/component_interface_specs/test/test_localization.cpp
+++ b/common/autoware_component_interface_specs/test/test_localization.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "component_interface_specs/localization.hpp"
+#include "autoware/component_interface_specs/localization.hpp"
 #include "gtest/gtest.h"
 
 TEST(localization, interface)
 {
   {
-    using localization_interface::InitializationState;
+    using autoware::component_interface_specs::localization_interface::InitializationState;
     InitializationState initialization_state;
     size_t depth = 1;
     EXPECT_EQ(initialization_state.depth, depth);
@@ -27,7 +27,7 @@ TEST(localization, interface)
   }
 
   {
-    using localization_interface::KinematicState;
+    using autoware::component_interface_specs::localization_interface::KinematicState;
     KinematicState kinematic_state;
     size_t depth = 1;
     EXPECT_EQ(kinematic_state.depth, depth);
@@ -36,7 +36,7 @@ TEST(localization, interface)
   }
 
   {
-    using localization_interface::Acceleration;
+    using autoware::component_interface_specs::localization_interface::Acceleration;
     Acceleration acceleration;
     size_t depth = 1;
     EXPECT_EQ(acceleration.depth, depth);
diff --git a/common/component_interface_specs/test/test_map.cpp b/common/autoware_component_interface_specs/test/test_map.cpp
similarity index 87%
rename from common/component_interface_specs/test/test_map.cpp
rename to common/autoware_component_interface_specs/test/test_map.cpp
index a65f2cb7120d1..ae406cca4e876 100644
--- a/common/component_interface_specs/test/test_map.cpp
+++ b/common/autoware_component_interface_specs/test/test_map.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "component_interface_specs/map.hpp"
+#include "autoware/component_interface_specs/map.hpp"
 #include "gtest/gtest.h"
 
 TEST(map, interface)
 {
   {
-    using map_interface::MapProjectorInfo;
+    using autoware::component_interface_specs::map_interface::MapProjectorInfo;
     MapProjectorInfo map_projector;
     size_t depth = 1;
     EXPECT_EQ(map_projector.depth, depth);
diff --git a/common/component_interface_specs/test/test_perception.cpp b/common/autoware_component_interface_specs/test/test_perception.cpp
similarity index 86%
rename from common/component_interface_specs/test/test_perception.cpp
rename to common/autoware_component_interface_specs/test/test_perception.cpp
index ec80c06bb119a..5c686e7b64994 100644
--- a/common/component_interface_specs/test/test_perception.cpp
+++ b/common/autoware_component_interface_specs/test/test_perception.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "component_interface_specs/perception.hpp"
+#include "autoware/component_interface_specs/perception.hpp"
 #include "gtest/gtest.h"
 
 TEST(perception, interface)
 {
   {
-    using perception_interface::ObjectRecognition;
+    using autoware::component_interface_specs::perception_interface::ObjectRecognition;
     ObjectRecognition object_recognition;
     size_t depth = 1;
     EXPECT_EQ(object_recognition.depth, depth);
diff --git a/common/component_interface_specs/test/test_planning.cpp b/common/autoware_component_interface_specs/test/test_planning.cpp
similarity index 82%
rename from common/component_interface_specs/test/test_planning.cpp
rename to common/autoware_component_interface_specs/test/test_planning.cpp
index c9cf353de5f34..9d8bff5a114f4 100644
--- a/common/component_interface_specs/test/test_planning.cpp
+++ b/common/autoware_component_interface_specs/test/test_planning.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "component_interface_specs/planning.hpp"
+#include "autoware/component_interface_specs/planning.hpp"
 #include "gtest/gtest.h"
 
 TEST(planning, interface)
 {
   {
-    using planning_interface::RouteState;
+    using autoware::component_interface_specs::planning_interface::RouteState;
     RouteState state;
     size_t depth = 1;
     EXPECT_EQ(state.depth, depth);
@@ -27,7 +27,7 @@ TEST(planning, interface)
   }
 
   {
-    using planning_interface::LaneletRoute;
+    using autoware::component_interface_specs::planning_interface::LaneletRoute;
     LaneletRoute route;
     size_t depth = 1;
     EXPECT_EQ(route.depth, depth);
@@ -36,7 +36,7 @@ TEST(planning, interface)
   }
 
   {
-    using planning_interface::Trajectory;
+    using autoware::component_interface_specs::planning_interface::Trajectory;
     Trajectory trajectory;
     size_t depth = 1;
     EXPECT_EQ(trajectory.depth, depth);
diff --git a/common/component_interface_specs/test/test_system.cpp b/common/autoware_component_interface_specs/test/test_system.cpp
similarity index 83%
rename from common/component_interface_specs/test/test_system.cpp
rename to common/autoware_component_interface_specs/test/test_system.cpp
index 416d2effad766..19dea82e89bd5 100644
--- a/common/component_interface_specs/test/test_system.cpp
+++ b/common/autoware_component_interface_specs/test/test_system.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "component_interface_specs/system.hpp"
+#include "autoware/component_interface_specs/system.hpp"
 #include "gtest/gtest.h"
 
 TEST(system, interface)
 {
   {
-    using system_interface::MrmState;
+    using autoware::component_interface_specs::system_interface::MrmState;
     MrmState state;
     size_t depth = 1;
     EXPECT_EQ(state.depth, depth);
@@ -27,7 +27,7 @@ TEST(system, interface)
   }
 
   {
-    using system_interface::OperationModeState;
+    using autoware::component_interface_specs::system_interface::OperationModeState;
     OperationModeState state;
     size_t depth = 1;
     EXPECT_EQ(state.depth, depth);
diff --git a/common/component_interface_specs/test/test_vehicle.cpp b/common/autoware_component_interface_specs/test/test_vehicle.cpp
similarity index 79%
rename from common/component_interface_specs/test/test_vehicle.cpp
rename to common/autoware_component_interface_specs/test/test_vehicle.cpp
index 1f2041b6cb79e..1b87976571600 100644
--- a/common/component_interface_specs/test/test_vehicle.cpp
+++ b/common/autoware_component_interface_specs/test/test_vehicle.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "component_interface_specs/vehicle.hpp"
+#include "autoware/component_interface_specs/vehicle.hpp"
 #include "gtest/gtest.h"
 
 TEST(vehicle, interface)
 {
   {
-    using vehicle_interface::SteeringStatus;
+    using autoware::component_interface_specs::vehicle_interface::SteeringStatus;
     SteeringStatus status;
     size_t depth = 1;
     EXPECT_EQ(status.depth, depth);
@@ -27,7 +27,7 @@ TEST(vehicle, interface)
   }
 
   {
-    using vehicle_interface::GearStatus;
+    using autoware::component_interface_specs::vehicle_interface::GearStatus;
     GearStatus status;
     size_t depth = 1;
     EXPECT_EQ(status.depth, depth);
@@ -36,7 +36,7 @@ TEST(vehicle, interface)
   }
 
   {
-    using vehicle_interface::TurnIndicatorStatus;
+    using autoware::component_interface_specs::vehicle_interface::TurnIndicatorStatus;
     TurnIndicatorStatus status;
     size_t depth = 1;
     EXPECT_EQ(status.depth, depth);
@@ -45,7 +45,7 @@ TEST(vehicle, interface)
   }
 
   {
-    using vehicle_interface::HazardLightStatus;
+    using autoware::component_interface_specs::vehicle_interface::HazardLightStatus;
     HazardLightStatus status;
     size_t depth = 1;
     EXPECT_EQ(status.depth, depth);
@@ -54,7 +54,7 @@ TEST(vehicle, interface)
   }
 
   {
-    using vehicle_interface::EnergyStatus;
+    using autoware::component_interface_specs::vehicle_interface::EnergyStatus;
     EnergyStatus status;
     size_t depth = 1;
     EXPECT_EQ(status.depth, depth);
diff --git a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
index c5c6cdf015e4d..6b00a0dbdd4dc 100644
--- a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
+++ b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
@@ -15,12 +15,12 @@
 #ifndef AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
 #define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
 
+#include <autoware/component_interface_specs/planning.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware_lanelet2_extension/io/autoware_osm_parser.hpp>
 #include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
 #include <autoware_lanelet2_extension/utility/message_conversion.hpp>
 #include <autoware_lanelet2_extension/utility/utilities.hpp>
-#include <component_interface_specs/planning.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
diff --git a/common/autoware_test_utils/package.xml b/common/autoware_test_utils/package.xml
index 0a4152404ab44..40edd451f3cab 100644
--- a/common/autoware_test_utils/package.xml
+++ b/common/autoware_test_utils/package.xml
@@ -16,6 +16,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>ament_index_cpp</depend>
+  <depend>autoware_component_interface_specs</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
@@ -23,7 +24,6 @@
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
-  <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>lanelet2_io</depend>
   <depend>nav_msgs</depend>
diff --git a/control/autoware_operation_mode_transition_manager/package.xml b/control/autoware_operation_mode_transition_manager/package.xml
index de514e70a0f2e..ef6c0bc8d252b 100644
--- a/control/autoware_operation_mode_transition_manager/package.xml
+++ b/control/autoware_operation_mode_transition_manager/package.xml
@@ -12,12 +12,12 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <build_depend>rosidl_default_generators</build_depend>
 
+  <depend>autoware_component_interface_specs</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
-  <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
diff --git a/control/autoware_operation_mode_transition_manager/src/node.hpp b/control/autoware_operation_mode_transition_manager/src/node.hpp
index d9b8eaebc4ead..d600bea805656 100644
--- a/control/autoware_operation_mode_transition_manager/src/node.hpp
+++ b/control/autoware_operation_mode_transition_manager/src/node.hpp
@@ -18,8 +18,8 @@
 #include "compatibility.hpp"
 #include "state.hpp"
 
+#include <autoware/component_interface_specs/system.hpp>
 #include <autoware/universe_utils/ros/polling_subscriber.hpp>
-#include <component_interface_specs/system.hpp>
 #include <component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -35,9 +35,12 @@ class OperationModeTransitionManager : public rclcpp::Node
   explicit OperationModeTransitionManager(const rclcpp::NodeOptions & options);
 
 private:
-  using ChangeAutowareControlAPI = system_interface::ChangeAutowareControl;
-  using ChangeOperationModeAPI = system_interface::ChangeOperationMode;
-  using OperationModeStateAPI = system_interface::OperationModeState;
+  using ChangeAutowareControlAPI =
+    autoware::component_interface_specs::system_interface::ChangeAutowareControl;
+  using ChangeOperationModeAPI =
+    autoware::component_interface_specs::system_interface::ChangeOperationMode;
+  using OperationModeStateAPI =
+    autoware::component_interface_specs::system_interface::OperationModeState;
   component_interface_utils::Service<ChangeAutowareControlAPI>::SharedPtr srv_autoware_control_;
   component_interface_utils::Service<ChangeOperationModeAPI>::SharedPtr srv_operation_mode_;
   component_interface_utils::Publisher<OperationModeStateAPI>::SharedPtr pub_operation_mode_;
diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml
index 60bbf23f9d5a8..532553da103e9 100644
--- a/control/autoware_vehicle_cmd_gate/package.xml
+++ b/control/autoware_vehicle_cmd_gate/package.xml
@@ -16,12 +16,12 @@
   <build_depend>rosidl_default_generators</build_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_component_interface_specs</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
-  <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>
diff --git a/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp
index 6f3aa70bcea54..c876388963eb6 100644
--- a/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp
+++ b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp
@@ -15,7 +15,7 @@
 #ifndef ADAPI_PAUSE_INTERFACE_HPP_
 #define ADAPI_PAUSE_INTERFACE_HPP_
 
-#include <component_interface_specs/control.hpp>
+#include <autoware/component_interface_specs/control.hpp>
 #include <component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -29,9 +29,9 @@ class AdapiPauseInterface
 private:
   static constexpr double eps = 1e-3;
   using Control = autoware_control_msgs::msg::Control;
-  using SetPause = control_interface::SetPause;
-  using IsPaused = control_interface::IsPaused;
-  using IsStartRequested = control_interface::IsStartRequested;
+  using SetPause = autoware::component_interface_specs::control_interface::SetPause;
+  using IsPaused = autoware::component_interface_specs::control_interface::IsPaused;
+  using IsStartRequested = autoware::component_interface_specs::control_interface::IsStartRequested;
 
 public:
   explicit AdapiPauseInterface(rclcpp::Node * node);
diff --git a/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp
index 012e75d0c207e..b29c4a3c6822d 100644
--- a/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp
+++ b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp
@@ -15,7 +15,7 @@
 #ifndef MODERATE_STOP_INTERFACE_HPP_
 #define MODERATE_STOP_INTERFACE_HPP_
 
-#include <component_interface_specs/control.hpp>
+#include <autoware/component_interface_specs/control.hpp>
 #include <component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -28,9 +28,9 @@ namespace autoware::vehicle_cmd_gate
 class ModerateStopInterface
 {
 private:
-  using SetStop = control_interface::SetStop;
-  using IsStopped = control_interface::IsStopped;
-  using IsStartRequested = control_interface::IsStartRequested;
+  using SetStop = autoware::component_interface_specs::control_interface::SetStop;
+  using IsStopped = autoware::component_interface_specs::control_interface::IsStopped;
+  using IsStartRequested = autoware::component_interface_specs::control_interface::IsStartRequested;
 
 public:
   explicit ModerateStopInterface(rclcpp::Node * node);
diff --git a/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp b/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp
index b3afcded60438..973c250ff6718 100644
--- a/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp
+++ b/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp
@@ -15,13 +15,13 @@
 #ifndef PREDICTED_PATH_CHECKER__PREDICTED_PATH_CHECKER_NODE_HPP_
 #define PREDICTED_PATH_CHECKER__PREDICTED_PATH_CHECKER_NODE_HPP_
 
+#include <autoware/component_interface_specs/control.hpp>
 #include <autoware/motion_utils/trajectory/conversion.hpp>
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 #include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware/universe_utils/ros/self_pose_listener.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
-#include <component_interface_specs/control.hpp>
 #include <component_interface_utils/rclcpp.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <predicted_path_checker/collision_checker.hpp>
@@ -96,10 +96,12 @@ class PredictedPathCheckerNode : public rclcpp::Node
     sub_predicted_trajectory_;
   rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_odom_;
   rclcpp::Subscription<geometry_msgs::msg::AccelWithCovarianceStamped>::SharedPtr sub_accel_;
-  component_interface_utils::Subscription<control_interface::IsStopped>::SharedPtr sub_stop_state_;
+  component_interface_utils::Subscription<
+    autoware::component_interface_specs::control_interface::IsStopped>::SharedPtr sub_stop_state_;
 
   // Client
-  component_interface_utils::Client<control_interface::SetStop>::SharedPtr cli_set_stop_;
+  component_interface_utils::Client<
+    autoware::component_interface_specs::control_interface::SetStop>::SharedPtr cli_set_stop_;
 
   // Data Buffer
   geometry_msgs::msg::PoseStamped::ConstSharedPtr current_pose_;
@@ -108,7 +110,8 @@ class PredictedPathCheckerNode : public rclcpp::Node
   PredictedObjects::ConstSharedPtr object_ptr_{nullptr};
   autoware_planning_msgs::msg::Trajectory::ConstSharedPtr reference_trajectory_;
   autoware_planning_msgs::msg::Trajectory::ConstSharedPtr predicted_trajectory_;
-  control_interface::IsStopped::Message::ConstSharedPtr is_stopped_ptr_{nullptr};
+  autoware::component_interface_specs::control_interface::IsStopped::Message::ConstSharedPtr
+    is_stopped_ptr_{nullptr};
 
   // Core
   std::unique_ptr<CollisionChecker> collision_checker_;
@@ -126,7 +129,9 @@ class PredictedPathCheckerNode : public rclcpp::Node
   void onPredictedTrajectory(const autoware_planning_msgs::msg::Trajectory::SharedPtr msg);
   void onOdom(const nav_msgs::msg::Odometry::SharedPtr msg);
   void onAccel(const geometry_msgs::msg::AccelWithCovarianceStamped::SharedPtr msg);
-  void onIsStopped(const control_interface::IsStopped::Message::ConstSharedPtr msg);
+  void onIsStopped(
+    const autoware::component_interface_specs::control_interface::IsStopped::Message::ConstSharedPtr
+      msg);
 
   // Timer
   rclcpp::TimerBase::SharedPtr timer_;
diff --git a/control/predicted_path_checker/package.xml b/control/predicted_path_checker/package.xml
index 153d11107a8cb..6bceb24c4439d 100644
--- a/control/predicted_path_checker/package.xml
+++ b/control/predicted_path_checker/package.xml
@@ -12,13 +12,13 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_component_interface_specs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>boost</depend>
-  <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>diagnostic_updater</depend>
   <depend>eigen</depend>
diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
index d8cf5c34bf535..9bd7816566cf3 100644
--- a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
+++ b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
@@ -132,7 +132,8 @@ void PredictedPathCheckerNode::onAccel(
 }
 
 void PredictedPathCheckerNode::onIsStopped(
-  const control_interface::IsStopped::Message::ConstSharedPtr msg)
+  const autoware::component_interface_specs::control_interface::IsStopped::Message::ConstSharedPtr
+    msg)
 {
   is_stopped_ptr_ = msg;
 
@@ -415,7 +416,8 @@ void PredictedPathCheckerNode::checkVehicleState(diagnostic_updater::DiagnosticS
 void PredictedPathCheckerNode::sendRequest(bool make_stop_vehicle)
 {
   if (!is_calling_set_stop_ && cli_set_stop_->service_is_ready()) {
-    const auto req = std::make_shared<control_interface::SetStop::Service::Request>();
+    const auto req = std::make_shared<
+      autoware::component_interface_specs::control_interface::SetStop::Service::Request>();
     req->stop = make_stop_vehicle;
     req->request_source = "predicted_path_checker";
     is_calling_set_stop_ = true;
diff --git a/localization/autoware_geo_pose_projector/package.xml b/localization/autoware_geo_pose_projector/package.xml
index 2d7c09f9e2ce2..4f02d4ff40981 100644
--- a/localization/autoware_geo_pose_projector/package.xml
+++ b/localization/autoware_geo_pose_projector/package.xml
@@ -17,8 +17,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_component_interface_specs</depend>
   <depend>autoware_geography_utils</depend>
-  <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>geographic_msgs</depend>
   <depend>geometry_msgs</depend>
diff --git a/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp b/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp
index 3ece595a7b1bd..ff9e053ab91b3 100644
--- a/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp
+++ b/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp
@@ -15,7 +15,7 @@
 #ifndef GEO_POSE_PROJECTOR_HPP_
 #define GEO_POSE_PROJECTOR_HPP_
 
-#include <component_interface_specs/map.hpp>
+#include <autoware/component_interface_specs/map.hpp>
 #include <component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -35,7 +35,7 @@ class GeoPoseProjector : public rclcpp::Node
 private:
   using GeoPoseWithCovariance = geographic_msgs::msg::GeoPoseWithCovarianceStamped;
   using PoseWithCovariance = geometry_msgs::msg::PoseWithCovarianceStamped;
-  using MapProjectorInfo = map_interface::MapProjectorInfo;
+  using MapProjectorInfo = autoware::component_interface_specs::map_interface::MapProjectorInfo;
 
 public:
   explicit GeoPoseProjector(const rclcpp::NodeOptions & options);
diff --git a/localization/autoware_pose_initializer/package.xml b/localization/autoware_pose_initializer/package.xml
index d1ffc4ca4aef5..83a961a322c6a 100644
--- a/localization/autoware_pose_initializer/package.xml
+++ b/localization/autoware_pose_initializer/package.xml
@@ -19,11 +19,11 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_component_interface_specs</depend>
   <depend>autoware_localization_util</depend>
   <depend>autoware_map_height_fitter</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_universe_utils</depend>
-  <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
diff --git a/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp b/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp
index 630635da870b0..ab366dd65afc0 100644
--- a/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp
+++ b/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp
@@ -14,7 +14,7 @@
 
 #include "ekf_localization_trigger_module.hpp"
 
-#include <component_interface_specs/localization.hpp>
+#include <autoware/component_interface_specs/localization.hpp>
 #include <component_interface_utils/rclcpp/exceptions.hpp>
 
 #include <memory>
@@ -23,7 +23,7 @@
 namespace autoware::pose_initializer
 {
 using ServiceException = component_interface_utils::ServiceException;
-using Initialize = localization_interface::Initialize;
+using Initialize = autoware::component_interface_specs::localization_interface::Initialize;
 
 EkfLocalizationTriggerModule::EkfLocalizationTriggerModule(rclcpp::Node * node) : node_(node)
 {
diff --git a/localization/autoware_pose_initializer/src/gnss_module.cpp b/localization/autoware_pose_initializer/src/gnss_module.cpp
index c5fd1490b271e..2db89614905be 100644
--- a/localization/autoware_pose_initializer/src/gnss_module.cpp
+++ b/localization/autoware_pose_initializer/src/gnss_module.cpp
@@ -14,7 +14,7 @@
 
 #include "gnss_module.hpp"
 
-#include <component_interface_specs/localization.hpp>
+#include <autoware/component_interface_specs/localization.hpp>
 #include <component_interface_utils/rclcpp/exceptions.hpp>
 
 #include <memory>
@@ -37,7 +37,7 @@ void GnssModule::on_pose(PoseWithCovarianceStamped::ConstSharedPtr msg)
 
 geometry_msgs::msg::PoseWithCovarianceStamped GnssModule::get_pose()
 {
-  using Initialize = localization_interface::Initialize;
+  using Initialize = autoware::component_interface_specs::localization_interface::Initialize;
 
   if (!pose_) {
     throw component_interface_utils::ServiceException(
diff --git a/localization/autoware_pose_initializer/src/localization_module.cpp b/localization/autoware_pose_initializer/src/localization_module.cpp
index 0b2a63a55447b..73b2b556934c9 100644
--- a/localization/autoware_pose_initializer/src/localization_module.cpp
+++ b/localization/autoware_pose_initializer/src/localization_module.cpp
@@ -14,7 +14,7 @@
 
 #include "localization_module.hpp"
 
-#include <component_interface_specs/localization.hpp>
+#include <autoware/component_interface_specs/localization.hpp>
 #include <component_interface_utils/rclcpp/exceptions.hpp>
 
 #include <memory>
@@ -23,7 +23,7 @@
 namespace autoware::pose_initializer
 {
 using ServiceException = component_interface_utils::ServiceException;
-using Initialize = localization_interface::Initialize;
+using Initialize = autoware::component_interface_specs::localization_interface::Initialize;
 using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped;
 
 LocalizationModule::LocalizationModule(rclcpp::Node * node, const std::string & service_name)
diff --git a/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp b/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp
index 5acf0909d21cf..757d2450366c6 100644
--- a/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp
+++ b/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp
@@ -14,7 +14,7 @@
 
 #include "ndt_localization_trigger_module.hpp"
 
-#include <component_interface_specs/localization.hpp>
+#include <autoware/component_interface_specs/localization.hpp>
 #include <component_interface_utils/rclcpp/exceptions.hpp>
 
 #include <memory>
@@ -23,7 +23,7 @@
 namespace autoware::pose_initializer
 {
 using ServiceException = component_interface_utils::ServiceException;
-using Initialize = localization_interface::Initialize;
+using Initialize = autoware::component_interface_specs::localization_interface::Initialize;
 
 NdtLocalizationTriggerModule::NdtLocalizationTriggerModule(rclcpp::Node * node) : node_(node)
 {
diff --git a/localization/autoware_pose_initializer/src/pose_initializer_core.hpp b/localization/autoware_pose_initializer/src/pose_initializer_core.hpp
index b9a6a66590b78..c1adde1dcbb5b 100644
--- a/localization/autoware_pose_initializer/src/pose_initializer_core.hpp
+++ b/localization/autoware_pose_initializer/src/pose_initializer_core.hpp
@@ -17,8 +17,8 @@
 
 #include "autoware/localization_util/diagnostics_module.hpp"
 
+#include <autoware/component_interface_specs/localization.hpp>
 #include <autoware/universe_utils/ros/logger_level_configure.hpp>
-#include <component_interface_specs/localization.hpp>
 #include <component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -42,8 +42,8 @@ class PoseInitializer : public rclcpp::Node
 
 private:
   using ServiceException = component_interface_utils::ServiceException;
-  using Initialize = localization_interface::Initialize;
-  using State = localization_interface::InitializationState;
+  using Initialize = autoware::component_interface_specs::localization_interface::Initialize;
+  using State = autoware::component_interface_specs::localization_interface::InitializationState;
   using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped;
 
   rclcpp::CallbackGroup::SharedPtr group_srv_;
diff --git a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp
index feb7483f37811..1bb55cf871df9 100644
--- a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp
+++ b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp
@@ -17,7 +17,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include <component_interface_specs/map.hpp>
+#include <autoware/component_interface_specs/map.hpp>
 #include <component_interface_utils/rclcpp.hpp>
 
 #include <string>
@@ -34,7 +34,7 @@ class MapProjectionLoader : public rclcpp::Node
   explicit MapProjectionLoader(const rclcpp::NodeOptions & options);
 
 private:
-  using MapProjectorInfo = map_interface::MapProjectorInfo;
+  using MapProjectorInfo = autoware::component_interface_specs::map_interface::MapProjectorInfo;
   component_interface_utils::Publisher<MapProjectorInfo>::SharedPtr publisher_;
 };
 }  // namespace autoware::map_projection_loader
diff --git a/map/autoware_map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml
index ca25cbf728d26..d58d4191300a3 100644
--- a/map/autoware_map_projection_loader/package.xml
+++ b/map/autoware_map_projection_loader/package.xml
@@ -16,8 +16,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_component_interface_specs</depend>
   <depend>autoware_lanelet2_extension</depend>
-  <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp
index e38d65201ee56..ca1077d336ede 100644
--- a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp
+++ b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp
@@ -15,8 +15,8 @@
 #ifndef MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
 #define MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
 
+#include <autoware/component_interface_specs/map.hpp>
 #include <autoware_lanelet2_extension/version.hpp>
-#include <component_interface_specs/map.hpp>
 #include <component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -44,7 +44,7 @@ class Lanelet2MapLoaderNode : public rclcpp::Node
     const rclcpp::Time & now);
 
 private:
-  using MapProjectorInfo = map_interface::MapProjectorInfo;
+  using MapProjectorInfo = autoware::component_interface_specs::map_interface::MapProjectorInfo;
 
   void on_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg);
 
diff --git a/map/map_loader/package.xml b/map/map_loader/package.xml
index b8f92504a8b99..6ab72f3d5f95b 100644
--- a/map/map_loader/package.xml
+++ b/map/map_loader/package.xml
@@ -19,10 +19,10 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_component_interface_specs</depend>
   <depend>autoware_geography_utils</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
-  <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp
index 52c60a612d1bd..f26f9c8eb6dde 100644
--- a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp
+++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp
@@ -30,7 +30,7 @@
            << std::endl;                                                                         \
   }
 
-#include <component_interface_specs/planning.hpp>
+#include <autoware/component_interface_specs/planning.hpp>
 #include <component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml
index f2aa5513ee81a..898c78391fb72 100644
--- a/planning/autoware_planning_test_manager/package.xml
+++ b/planning/autoware_planning_test_manager/package.xml
@@ -13,6 +13,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_component_interface_specs</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
@@ -23,7 +24,6 @@
   <depend>autoware_test_utils</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
-  <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>lanelet2_io</depend>
   <depend>nav_msgs</depend>
diff --git a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp
index e551aedab8cf5..2727e2b7dde6f 100644
--- a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp
+++ b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp
@@ -14,7 +14,7 @@
 #ifndef AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP_
 #define AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP_
 
-#include <component_interface_specs/map.hpp>
+#include <autoware/component_interface_specs/map.hpp>
 #include <component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -47,7 +47,7 @@ class GNSSPoser : public rclcpp::Node
   explicit GNSSPoser(const rclcpp::NodeOptions & node_options);
 
 private:
-  using MapProjectorInfo = map_interface::MapProjectorInfo;
+  using MapProjectorInfo = autoware::component_interface_specs::map_interface::MapProjectorInfo;
 
   void callback_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg);
   void callback_nav_sat_fix(const sensor_msgs::msg::NavSatFix::ConstSharedPtr nav_sat_fix_msg_ptr);
diff --git a/sensing/autoware_gnss_poser/package.xml b/sensing/autoware_gnss_poser/package.xml
index 7d7fb27777fed..6565148df73cd 100644
--- a/sensing/autoware_gnss_poser/package.xml
+++ b/sensing/autoware_gnss_poser/package.xml
@@ -19,9 +19,9 @@
 
   <build_depend>libboost-dev</build_depend>
 
+  <depend>autoware_component_interface_specs</depend>
   <depend>autoware_geography_utils</depend>
   <depend>autoware_sensing_msgs</depend>
-  <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>geographic_msgs</depend>
   <depend>geographiclib</depend>
diff --git a/system/autoware_default_adapi/package.xml b/system/autoware_default_adapi/package.xml
index 5c6e10a73fa9c..4c9664912db40 100644
--- a/system/autoware_default_adapi/package.xml
+++ b/system/autoware_default_adapi/package.xml
@@ -15,13 +15,13 @@
   <depend>autoware_ad_api_specs</depend>
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_adapi_version_msgs</depend>
+  <depend>autoware_component_interface_specs</depend>
   <depend>autoware_geography_utils</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_system_msgs</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
-  <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>diagnostic_graph_utils</depend>
   <depend>geographic_msgs</depend>
diff --git a/system/autoware_default_adapi/src/fail_safe.hpp b/system/autoware_default_adapi/src/fail_safe.hpp
index 268fc6d4d95e4..9e7a77d944523 100644
--- a/system/autoware_default_adapi/src/fail_safe.hpp
+++ b/system/autoware_default_adapi/src/fail_safe.hpp
@@ -15,8 +15,8 @@
 #ifndef FAIL_SAFE_HPP_
 #define FAIL_SAFE_HPP_
 
+#include <autoware/component_interface_specs/system.hpp>
 #include <autoware_ad_api_specs/fail_safe.hpp>
-#include <component_interface_specs/system.hpp>
 #include <component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -34,7 +34,7 @@ class FailSafeNode : public rclcpp::Node
 private:
   using MrmState = autoware_ad_api::fail_safe::MrmState::Message;
   Pub<autoware_ad_api::fail_safe::MrmState> pub_mrm_state_;
-  Sub<system_interface::MrmState> sub_mrm_state_;
+  Sub<autoware::component_interface_specs::system_interface::MrmState> sub_mrm_state_;
   MrmState prev_state_;
   void on_state(const MrmState::ConstSharedPtr msg);
 };
diff --git a/system/autoware_default_adapi/src/localization.hpp b/system/autoware_default_adapi/src/localization.hpp
index d9104f393f712..23f83738cf25f 100644
--- a/system/autoware_default_adapi/src/localization.hpp
+++ b/system/autoware_default_adapi/src/localization.hpp
@@ -15,8 +15,8 @@
 #ifndef LOCALIZATION_HPP_
 #define LOCALIZATION_HPP_
 
+#include <autoware/component_interface_specs/localization.hpp>
 #include <autoware_ad_api_specs/localization.hpp>
-#include <component_interface_specs/localization.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 // This file should be included after messages.
@@ -34,8 +34,8 @@ class LocalizationNode : public rclcpp::Node
   rclcpp::CallbackGroup::SharedPtr group_cli_;
   Srv<autoware_ad_api::localization::Initialize> srv_initialize_;
   Pub<autoware_ad_api::localization::InitializationState> pub_state_;
-  Cli<localization_interface::Initialize> cli_initialize_;
-  Sub<localization_interface::InitializationState> sub_state_;
+  Cli<autoware::component_interface_specs::localization_interface::Initialize> cli_initialize_;
+  Sub<autoware::component_interface_specs::localization_interface::InitializationState> sub_state_;
 
   void on_initialize(
     const autoware_ad_api::localization::Initialize::Service::Request::SharedPtr req,
diff --git a/system/autoware_default_adapi/src/motion.cpp b/system/autoware_default_adapi/src/motion.cpp
index 87d4df371abb7..96a3d964c1d0a 100644
--- a/system/autoware_default_adapi/src/motion.cpp
+++ b/system/autoware_default_adapi/src/motion.cpp
@@ -121,7 +121,8 @@ void MotionNode::update_pause(const State state)
 void MotionNode::change_pause(bool pause)
 {
   if (!is_calling_set_pause_ && cli_set_pause_->service_is_ready()) {
-    const auto req = std::make_shared<control_interface::SetPause::Service::Request>();
+    const auto req = std::make_shared<
+      autoware::component_interface_specs::control_interface::SetPause::Service::Request>();
     req->pause = pause;
     is_calling_set_pause_ = true;
     cli_set_pause_->async_send_request(req, [this](auto) { is_calling_set_pause_ = false; });
@@ -133,14 +134,17 @@ void MotionNode::on_timer()
   update_state();
 }
 
-void MotionNode::on_is_paused(const control_interface::IsPaused::Message::ConstSharedPtr msg)
+void MotionNode::on_is_paused(
+  const autoware::component_interface_specs::control_interface::IsPaused::Message::ConstSharedPtr
+    msg)
 {
   is_paused_ = msg->data;
   update_state();
 }
 
 void MotionNode::on_is_start_requested(
-  const control_interface::IsStartRequested::Message::ConstSharedPtr msg)
+  const autoware::component_interface_specs::control_interface::IsStartRequested::Message::
+    ConstSharedPtr msg)
 {
   is_start_requested_ = msg->data;
   update_state();
diff --git a/system/autoware_default_adapi/src/motion.hpp b/system/autoware_default_adapi/src/motion.hpp
index 043eb6568e141..367f502e38d83 100644
--- a/system/autoware_default_adapi/src/motion.hpp
+++ b/system/autoware_default_adapi/src/motion.hpp
@@ -15,9 +15,9 @@
 #ifndef MOTION_HPP_
 #define MOTION_HPP_
 
+#include <autoware/component_interface_specs/control.hpp>
 #include <autoware/motion_utils/vehicle/vehicle_state_checker.hpp>
 #include <autoware_ad_api_specs/motion.hpp>
-#include <component_interface_specs/control.hpp>
 #include <component_interface_utils/rclcpp.hpp>
 #include <component_interface_utils/status.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -39,9 +39,10 @@ class MotionNode : public rclcpp::Node
   rclcpp::CallbackGroup::SharedPtr group_cli_;
   Srv<autoware_ad_api::motion::AcceptStart> srv_accept_;
   Pub<autoware_ad_api::motion::State> pub_state_;
-  Cli<control_interface::SetPause> cli_set_pause_;
-  Sub<control_interface::IsPaused> sub_is_paused_;
-  Sub<control_interface::IsStartRequested> sub_is_start_requested_;
+  Cli<autoware::component_interface_specs::control_interface::SetPause> cli_set_pause_;
+  Sub<autoware::component_interface_specs::control_interface::IsPaused> sub_is_paused_;
+  Sub<autoware::component_interface_specs::control_interface::IsStartRequested>
+    sub_is_start_requested_;
 
   enum class State { Unknown, Pausing, Paused, Starting, Resuming, Resumed, Moving };
   State state_;
@@ -57,9 +58,11 @@ class MotionNode : public rclcpp::Node
   void update_pause(const State state);
   void change_pause(bool pause);
   void on_timer();
-  void on_is_paused(const control_interface::IsPaused::Message::ConstSharedPtr msg);
-  void on_is_start_requested(
-    const control_interface::IsStartRequested::Message::ConstSharedPtr msg);
+  void on_is_paused(
+    const autoware::component_interface_specs::control_interface::IsPaused::Message::ConstSharedPtr
+      msg);
+  void on_is_start_requested(const autoware::component_interface_specs::control_interface::
+                               IsStartRequested::Message::ConstSharedPtr msg);
   void on_accept(
     const autoware_ad_api::motion::AcceptStart::Service::Request::SharedPtr req,
     const autoware_ad_api::motion::AcceptStart::Service::Response::SharedPtr res);
diff --git a/system/autoware_default_adapi/src/operation_mode.hpp b/system/autoware_default_adapi/src/operation_mode.hpp
index 3b139ad875b8d..d6dbc68027229 100644
--- a/system/autoware_default_adapi/src/operation_mode.hpp
+++ b/system/autoware_default_adapi/src/operation_mode.hpp
@@ -15,8 +15,8 @@
 #ifndef OPERATION_MODE_HPP_
 #define OPERATION_MODE_HPP_
 
+#include <autoware/component_interface_specs/system.hpp>
 #include <autoware_ad_api_specs/operation_mode.hpp>
-#include <component_interface_specs/system.hpp>
 #include <component_interface_utils/status.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -45,8 +45,10 @@ class OperationModeNode : public rclcpp::Node
   using ChangeToAutonomous = autoware_ad_api::operation_mode::ChangeToAutonomous;
   using ChangeToLocal = autoware_ad_api::operation_mode::ChangeToLocal;
   using ChangeToRemote = autoware_ad_api::operation_mode::ChangeToRemote;
-  using OperationModeRequest = system_interface::ChangeOperationMode::Service::Request;
-  using AutowareControlRequest = system_interface::ChangeAutowareControl::Service::Request;
+  using OperationModeRequest =
+    autoware::component_interface_specs::system_interface::ChangeOperationMode::Service::Request;
+  using AutowareControlRequest =
+    autoware::component_interface_specs::system_interface::ChangeAutowareControl::Service::Request;
   using OperationModeAvailability = tier4_system_msgs::msg::OperationModeAvailability;
 
   OperationModeState::Message curr_state_;
@@ -62,9 +64,9 @@ class OperationModeNode : public rclcpp::Node
   Srv<autoware_ad_api::operation_mode::ChangeToRemote> srv_remote_mode_;
   Srv<autoware_ad_api::operation_mode::EnableAutowareControl> srv_enable_control_;
   Srv<autoware_ad_api::operation_mode::DisableAutowareControl> srv_disable_control_;
-  Sub<system_interface::OperationModeState> sub_state_;
-  Cli<system_interface::ChangeOperationMode> cli_mode_;
-  Cli<system_interface::ChangeAutowareControl> cli_control_;
+  Sub<autoware::component_interface_specs::system_interface::OperationModeState> sub_state_;
+  Cli<autoware::component_interface_specs::system_interface::ChangeOperationMode> cli_mode_;
+  Cli<autoware::component_interface_specs::system_interface::ChangeAutowareControl> cli_control_;
   rclcpp::Subscription<OperationModeAvailability>::SharedPtr sub_availability_;
 
   void on_change_to_stop(
diff --git a/system/autoware_default_adapi/src/perception.cpp b/system/autoware_default_adapi/src/perception.cpp
index c92bac2f5f139..2e751d4ced2e5 100644
--- a/system/autoware_default_adapi/src/perception.cpp
+++ b/system/autoware_default_adapi/src/perception.cpp
@@ -50,7 +50,8 @@ uint8_t PerceptionNode::mapping(
 }
 
 void PerceptionNode::object_recognize(
-  const perception_interface::ObjectRecognition::Message::ConstSharedPtr msg)
+  const autoware::component_interface_specs::perception_interface::ObjectRecognition::Message::
+    ConstSharedPtr msg)
 {
   DynamicObjectArray::Message objects;
   objects.header = msg->header;
diff --git a/system/autoware_default_adapi/src/perception.hpp b/system/autoware_default_adapi/src/perception.hpp
index 4eb83c57293ba..342059571a8b3 100644
--- a/system/autoware_default_adapi/src/perception.hpp
+++ b/system/autoware_default_adapi/src/perception.hpp
@@ -15,8 +15,8 @@
 #ifndef PERCEPTION_HPP_
 #define PERCEPTION_HPP_
 
+#include <autoware/component_interface_specs/perception.hpp>
 #include <autoware_ad_api_specs/perception.hpp>
-#include <component_interface_specs/perception.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/dynamic_object.hpp>
@@ -41,8 +41,10 @@ class PerceptionNode : public rclcpp::Node
 
 private:
   Pub<autoware_ad_api::perception::DynamicObjectArray> pub_object_recognized_;
-  Sub<perception_interface::ObjectRecognition> sub_object_recognized_;
-  void object_recognize(const perception_interface::ObjectRecognition::Message::ConstSharedPtr msg);
+  Sub<autoware::component_interface_specs::perception_interface::ObjectRecognition>
+    sub_object_recognized_;
+  void object_recognize(const autoware::component_interface_specs::perception_interface::
+                          ObjectRecognition::Message::ConstSharedPtr msg);
   uint8_t mapping(
     std::unordered_map<uint8_t, uint8_t> hash_map, uint8_t input, uint8_t default_value);
 };
diff --git a/system/autoware_default_adapi/src/planning.hpp b/system/autoware_default_adapi/src/planning.hpp
index f67de9f7b9221..ae70162a72205 100644
--- a/system/autoware_default_adapi/src/planning.hpp
+++ b/system/autoware_default_adapi/src/planning.hpp
@@ -15,10 +15,10 @@
 #ifndef PLANNING_HPP_
 #define PLANNING_HPP_
 
+#include <autoware/component_interface_specs/localization.hpp>
+#include <autoware/component_interface_specs/planning.hpp>
 #include <autoware/motion_utils/vehicle/vehicle_state_checker.hpp>
 #include <autoware_ad_api_specs/planning.hpp>
-#include <component_interface_specs/localization.hpp>
-#include <component_interface_specs/planning.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>
@@ -40,8 +40,9 @@ class PlanningNode : public rclcpp::Node
   using SteeringFactorArray = autoware_adapi_v1_msgs::msg::SteeringFactorArray;
   Pub<autoware_ad_api::planning::VelocityFactors> pub_velocity_factors_;
   Pub<autoware_ad_api::planning::SteeringFactors> pub_steering_factors_;
-  Sub<planning_interface::Trajectory> sub_trajectory_;
-  Sub<localization_interface::KinematicState> sub_kinematic_state_;
+  Sub<autoware::component_interface_specs::planning_interface::Trajectory> sub_trajectory_;
+  Sub<autoware::component_interface_specs::localization_interface::KinematicState>
+    sub_kinematic_state_;
   std::vector<rclcpp::Subscription<VelocityFactorArray>::SharedPtr> sub_velocity_factors_;
   std::vector<rclcpp::Subscription<SteeringFactorArray>::SharedPtr> sub_steering_factors_;
   std::vector<VelocityFactorArray::ConstSharedPtr> velocity_factors_;
@@ -49,8 +50,9 @@ class PlanningNode : public rclcpp::Node
   rclcpp::TimerBase::SharedPtr timer_;
 
   using VehicleStopChecker = autoware::motion_utils::VehicleStopCheckerBase;
-  using Trajectory = planning_interface::Trajectory::Message;
-  using KinematicState = localization_interface::KinematicState::Message;
+  using Trajectory = autoware::component_interface_specs::planning_interface::Trajectory::Message;
+  using KinematicState =
+    autoware::component_interface_specs::localization_interface::KinematicState::Message;
   void on_trajectory(const Trajectory::ConstSharedPtr msg);
   void on_kinematic_state(const KinematicState::ConstSharedPtr msg);
   void on_timer();
diff --git a/system/autoware_default_adapi/src/routing.cpp b/system/autoware_default_adapi/src/routing.cpp
index 767cfc37d3f25..460cf73659890 100644
--- a/system/autoware_default_adapi/src/routing.cpp
+++ b/system/autoware_default_adapi/src/routing.cpp
@@ -74,7 +74,8 @@ RoutingNode::RoutingNode(const rclcpp::NodeOptions & options) : Node("routing",
 
 void RoutingNode::change_stop_mode()
 {
-  using OperationModeRequest = system_interface::ChangeOperationMode::Service::Request;
+  using OperationModeRequest =
+    autoware::component_interface_specs::system_interface::ChangeOperationMode::Service::Request;
   if (is_auto_mode_) {
     const auto req = std::make_shared<OperationModeRequest>();
     req->mode = OperationModeRequest::STOP;
diff --git a/system/autoware_default_adapi/src/routing.hpp b/system/autoware_default_adapi/src/routing.hpp
index 9033373c3a064..3eabb4b619904 100644
--- a/system/autoware_default_adapi/src/routing.hpp
+++ b/system/autoware_default_adapi/src/routing.hpp
@@ -15,9 +15,9 @@
 #ifndef ROUTING_HPP_
 #define ROUTING_HPP_
 
+#include <autoware/component_interface_specs/planning.hpp>
+#include <autoware/component_interface_specs/system.hpp>
 #include <autoware_ad_api_specs/routing.hpp>
-#include <component_interface_specs/planning.hpp>
-#include <component_interface_specs/system.hpp>
 #include <component_interface_utils/status.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -33,9 +33,10 @@ class RoutingNode : public rclcpp::Node
   explicit RoutingNode(const rclcpp::NodeOptions & options);
 
 private:
-  using OperationModeState = system_interface::OperationModeState;
-  using State = planning_interface::RouteState;
-  using Route = planning_interface::LaneletRoute;
+  using OperationModeState =
+    autoware::component_interface_specs::system_interface::OperationModeState;
+  using State = autoware::component_interface_specs::planning_interface::RouteState;
+  using Route = autoware::component_interface_specs::planning_interface::LaneletRoute;
 
   rclcpp::CallbackGroup::SharedPtr group_cli_;
   Pub<autoware_ad_api::routing::RouteState> pub_state_;
@@ -45,13 +46,17 @@ class RoutingNode : public rclcpp::Node
   Srv<autoware_ad_api::routing::ChangeRoutePoints> srv_change_route_points_;
   Srv<autoware_ad_api::routing::ChangeRoute> srv_change_route_;
   Srv<autoware_ad_api::routing::ClearRoute> srv_clear_route_;
-  Sub<planning_interface::RouteState> sub_state_;
-  Sub<planning_interface::LaneletRoute> sub_route_;
-  Cli<planning_interface::SetWaypointRoute> cli_set_waypoint_route_;
-  Cli<planning_interface::SetLaneletRoute> cli_set_lanelet_route_;
-  Cli<planning_interface::ClearRoute> cli_clear_route_;
-  Cli<system_interface::ChangeOperationMode> cli_operation_mode_;
-  Sub<system_interface::OperationModeState> sub_operation_mode_;
+  Sub<autoware::component_interface_specs::planning_interface::RouteState> sub_state_;
+  Sub<autoware::component_interface_specs::planning_interface::LaneletRoute> sub_route_;
+  Cli<autoware::component_interface_specs::planning_interface::SetWaypointRoute>
+    cli_set_waypoint_route_;
+  Cli<autoware::component_interface_specs::planning_interface::SetLaneletRoute>
+    cli_set_lanelet_route_;
+  Cli<autoware::component_interface_specs::planning_interface::ClearRoute> cli_clear_route_;
+  Cli<autoware::component_interface_specs::system_interface::ChangeOperationMode>
+    cli_operation_mode_;
+  Sub<autoware::component_interface_specs::system_interface::OperationModeState>
+    sub_operation_mode_;
   bool is_auto_mode_;
   State::Message state_;
 
diff --git a/system/autoware_default_adapi/src/vehicle.cpp b/system/autoware_default_adapi/src/vehicle.cpp
index 5421f382795ef..8542fa1b973c1 100644
--- a/system/autoware_default_adapi/src/vehicle.cpp
+++ b/system/autoware_default_adapi/src/vehicle.cpp
@@ -24,13 +24,16 @@
 namespace autoware::default_adapi
 {
 
-using GearReport = vehicle_interface::GearStatus::Message;
+using GearReport = autoware::component_interface_specs::vehicle_interface::GearStatus::Message;
 using ApiGear = autoware_adapi_v1_msgs::msg::Gear;
-using TurnIndicatorsReport = vehicle_interface::TurnIndicatorStatus::Message;
+using TurnIndicatorsReport =
+  autoware::component_interface_specs::vehicle_interface::TurnIndicatorStatus::Message;
 using ApiTurnIndicator = autoware_adapi_v1_msgs::msg::TurnIndicators;
-using HazardLightsReport = vehicle_interface::HazardLightStatus::Message;
+using HazardLightsReport =
+  autoware::component_interface_specs::vehicle_interface::HazardLightStatus::Message;
 using ApiHazardLight = autoware_adapi_v1_msgs::msg::HazardLights;
-using MapProjectorInfo = map_interface::MapProjectorInfo::Message;
+using MapProjectorInfo =
+  autoware::component_interface_specs::map_interface::MapProjectorInfo::Message;
 
 std::unordered_map<uint8_t, uint8_t> gear_type_ = {
   {GearReport::NONE, ApiGear::UNKNOWN},    {GearReport::NEUTRAL, ApiGear::NEUTRAL},
@@ -89,19 +92,21 @@ uint8_t VehicleNode::mapping(
 }
 
 void VehicleNode::kinematic_state(
-  const localization_interface::KinematicState::Message::ConstSharedPtr msg_ptr)
+  const autoware::component_interface_specs::localization_interface::KinematicState::Message::
+    ConstSharedPtr msg_ptr)
 {
   kinematic_state_msgs_ = msg_ptr;
 }
 
 void VehicleNode::acceleration_status(
-  const localization_interface::Acceleration::Message::ConstSharedPtr msg_ptr)
+  const autoware::component_interface_specs::localization_interface::Acceleration::Message::
+    ConstSharedPtr msg_ptr)
 {
   acceleration_msgs_ = msg_ptr;
 }
 
-void VehicleNode::steering_status(
-  const vehicle_interface::SteeringStatus::Message::ConstSharedPtr msg_ptr)
+void VehicleNode::steering_status(const autoware::component_interface_specs::vehicle_interface::
+                                    SteeringStatus::Message::ConstSharedPtr msg_ptr)
 {
   steering_status_msgs_ = msg_ptr;
 }
@@ -121,8 +126,8 @@ void VehicleNode::hazard_light_status(const HazardLightsReport::ConstSharedPtr m
   hazard_light_status_msgs_ = msg_ptr;
 }
 
-void VehicleNode::energy_status(
-  const vehicle_interface::EnergyStatus::Message::ConstSharedPtr msg_ptr)
+void VehicleNode::energy_status(const autoware::component_interface_specs::vehicle_interface::
+                                  EnergyStatus::Message::ConstSharedPtr msg_ptr)
 {
   energy_status_msgs_ = msg_ptr;
 }
diff --git a/system/autoware_default_adapi/src/vehicle.hpp b/system/autoware_default_adapi/src/vehicle.hpp
index 5e3818340b819..fbe6fb5e97aec 100644
--- a/system/autoware_default_adapi/src/vehicle.hpp
+++ b/system/autoware_default_adapi/src/vehicle.hpp
@@ -15,10 +15,10 @@
 #ifndef VEHICLE_HPP_
 #define VEHICLE_HPP_
 
+#include <autoware/component_interface_specs/localization.hpp>
+#include <autoware/component_interface_specs/map.hpp>
+#include <autoware/component_interface_specs/vehicle.hpp>
 #include <autoware_ad_api_specs/vehicle.hpp>
-#include <component_interface_specs/localization.hpp>
-#include <component_interface_specs/map.hpp>
-#include <component_interface_specs/vehicle.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/gear.hpp>
@@ -42,37 +42,51 @@ class VehicleNode : public rclcpp::Node
   rclcpp::CallbackGroup::SharedPtr group_cli_;
   Pub<autoware_ad_api::vehicle::VehicleKinematics> pub_kinematics_;
   Pub<autoware_ad_api::vehicle::VehicleStatus> pub_status_;
-  Sub<localization_interface::KinematicState> sub_kinematic_state_;
-  Sub<localization_interface::Acceleration> sub_acceleration_;
-  Sub<vehicle_interface::SteeringStatus> sub_steering_;
-  Sub<vehicle_interface::GearStatus> sub_gear_state_;
-  Sub<vehicle_interface::TurnIndicatorStatus> sub_turn_indicator_;
-  Sub<vehicle_interface::HazardLightStatus> sub_hazard_light_;
-  Sub<vehicle_interface::EnergyStatus> sub_energy_level_;
-  Sub<map_interface::MapProjectorInfo> sub_map_projector_info_;
+  Sub<autoware::component_interface_specs::localization_interface::KinematicState>
+    sub_kinematic_state_;
+  Sub<autoware::component_interface_specs::localization_interface::Acceleration> sub_acceleration_;
+  Sub<autoware::component_interface_specs::vehicle_interface::SteeringStatus> sub_steering_;
+  Sub<autoware::component_interface_specs::vehicle_interface::GearStatus> sub_gear_state_;
+  Sub<autoware::component_interface_specs::vehicle_interface::TurnIndicatorStatus>
+    sub_turn_indicator_;
+  Sub<autoware::component_interface_specs::vehicle_interface::HazardLightStatus> sub_hazard_light_;
+  Sub<autoware::component_interface_specs::vehicle_interface::EnergyStatus> sub_energy_level_;
+  Sub<autoware::component_interface_specs::map_interface::MapProjectorInfo> sub_map_projector_info_;
   rclcpp::TimerBase::SharedPtr timer_;
 
-  localization_interface::KinematicState::Message::ConstSharedPtr kinematic_state_msgs_;
-  localization_interface::Acceleration::Message::ConstSharedPtr acceleration_msgs_;
-  vehicle_interface::SteeringStatus::Message::ConstSharedPtr steering_status_msgs_;
-  vehicle_interface::GearStatus::Message::ConstSharedPtr gear_status_msgs_;
-  vehicle_interface::TurnIndicatorStatus::Message::ConstSharedPtr turn_indicator_status_msgs_;
-  vehicle_interface::HazardLightStatus::Message::ConstSharedPtr hazard_light_status_msgs_;
-  vehicle_interface::EnergyStatus::Message::ConstSharedPtr energy_status_msgs_;
-  map_interface::MapProjectorInfo::Message::ConstSharedPtr map_projector_info_;
+  autoware::component_interface_specs::localization_interface::KinematicState::Message::
+    ConstSharedPtr kinematic_state_msgs_;
+  autoware::component_interface_specs::localization_interface::Acceleration::Message::ConstSharedPtr
+    acceleration_msgs_;
+  autoware::component_interface_specs::vehicle_interface::SteeringStatus::Message::ConstSharedPtr
+    steering_status_msgs_;
+  autoware::component_interface_specs::vehicle_interface::GearStatus::Message::ConstSharedPtr
+    gear_status_msgs_;
+  autoware::component_interface_specs::vehicle_interface::TurnIndicatorStatus::Message::
+    ConstSharedPtr turn_indicator_status_msgs_;
+  autoware::component_interface_specs::vehicle_interface::HazardLightStatus::Message::ConstSharedPtr
+    hazard_light_status_msgs_;
+  autoware::component_interface_specs::vehicle_interface::EnergyStatus::Message::ConstSharedPtr
+    energy_status_msgs_;
+  autoware::component_interface_specs::map_interface::MapProjectorInfo::Message::ConstSharedPtr
+    map_projector_info_;
 
-  void kinematic_state(
-    const localization_interface::KinematicState::Message::ConstSharedPtr msg_ptr);
-  void acceleration_status(
-    const localization_interface::Acceleration::Message::ConstSharedPtr msg_ptr);
-  void steering_status(const vehicle_interface::SteeringStatus::Message::ConstSharedPtr msg_ptr);
-  void gear_status(const vehicle_interface::GearStatus::Message::ConstSharedPtr msg_ptr);
-  void turn_indicator_status(
-    const vehicle_interface::TurnIndicatorStatus::Message::ConstSharedPtr msg_ptr);
-  void map_projector_info(const map_interface::MapProjectorInfo::Message::ConstSharedPtr msg_ptr);
-  void hazard_light_status(
-    const vehicle_interface::HazardLightStatus::Message::ConstSharedPtr msg_ptr);
-  void energy_status(const vehicle_interface::EnergyStatus::Message::ConstSharedPtr msg_ptr);
+  void kinematic_state(const autoware::component_interface_specs::localization_interface::
+                         KinematicState::Message::ConstSharedPtr msg_ptr);
+  void acceleration_status(const autoware::component_interface_specs::localization_interface::
+                             Acceleration::Message::ConstSharedPtr msg_ptr);
+  void steering_status(const autoware::component_interface_specs::vehicle_interface::
+                         SteeringStatus::Message::ConstSharedPtr msg_ptr);
+  void gear_status(const autoware::component_interface_specs::vehicle_interface::GearStatus::
+                     Message::ConstSharedPtr msg_ptr);
+  void turn_indicator_status(const autoware::component_interface_specs::vehicle_interface::
+                               TurnIndicatorStatus::Message::ConstSharedPtr msg_ptr);
+  void map_projector_info(const autoware::component_interface_specs::map_interface::
+                            MapProjectorInfo::Message::ConstSharedPtr msg_ptr);
+  void hazard_light_status(const autoware::component_interface_specs::vehicle_interface::
+                             HazardLightStatus::Message::ConstSharedPtr msg_ptr);
+  void energy_status(const autoware::component_interface_specs::vehicle_interface::EnergyStatus::
+                       Message::ConstSharedPtr msg_ptr);
   uint8_t mapping(
     std::unordered_map<uint8_t, uint8_t> hash_map, uint8_t input, uint8_t default_value);
   void publish_kinematics();
diff --git a/system/autoware_default_adapi/src/vehicle_door.cpp b/system/autoware_default_adapi/src/vehicle_door.cpp
index e897bc37eff42..091b189c8a058 100644
--- a/system/autoware_default_adapi/src/vehicle_door.cpp
+++ b/system/autoware_default_adapi/src/vehicle_door.cpp
@@ -30,10 +30,13 @@ VehicleDoorNode::VehicleDoorNode(const rclcpp::NodeOptions & options)
   adaptor.init_sub(sub_status_, this, &VehicleDoorNode::on_status);
 }
 
-void VehicleDoorNode::on_status(vehicle_interface::DoorStatus::Message::ConstSharedPtr msg)
+void VehicleDoorNode::on_status(
+  autoware::component_interface_specs::vehicle_interface::DoorStatus::Message::ConstSharedPtr msg)
 {
   utils::notify(
-    pub_status_, status_, *msg, utils::ignore_stamp<vehicle_interface::DoorStatus::Message>);
+    pub_status_, status_, *msg,
+    utils::ignore_stamp<
+      autoware::component_interface_specs::vehicle_interface::DoorStatus::Message>);
 }
 
 }  // namespace autoware::default_adapi
diff --git a/system/autoware_default_adapi/src/vehicle_door.hpp b/system/autoware_default_adapi/src/vehicle_door.hpp
index 8f6c2da83247d..f0a461acc86ef 100644
--- a/system/autoware_default_adapi/src/vehicle_door.hpp
+++ b/system/autoware_default_adapi/src/vehicle_door.hpp
@@ -15,8 +15,8 @@
 #ifndef VEHICLE_DOOR_HPP_
 #define VEHICLE_DOOR_HPP_
 
+#include <autoware/component_interface_specs/vehicle.hpp>
 #include <autoware_ad_api_specs/vehicle.hpp>
-#include <component_interface_specs/vehicle.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <optional>
@@ -33,15 +33,18 @@ class VehicleDoorNode : public rclcpp::Node
   explicit VehicleDoorNode(const rclcpp::NodeOptions & options);
 
 private:
-  void on_status(vehicle_interface::DoorStatus::Message::ConstSharedPtr msg);
+  void on_status(
+    autoware::component_interface_specs::vehicle_interface::DoorStatus::Message::ConstSharedPtr
+      msg);
   rclcpp::CallbackGroup::SharedPtr group_cli_;
   Srv<autoware_ad_api::vehicle::DoorCommand> srv_command_;
   Srv<autoware_ad_api::vehicle::DoorLayout> srv_layout_;
   Pub<autoware_ad_api::vehicle::DoorStatus> pub_status_;
-  Cli<vehicle_interface::DoorCommand> cli_command_;
-  Cli<vehicle_interface::DoorLayout> cli_layout_;
-  Sub<vehicle_interface::DoorStatus> sub_status_;
-  std::optional<vehicle_interface::DoorStatus::Message> status_;
+  Cli<autoware::component_interface_specs::vehicle_interface::DoorCommand> cli_command_;
+  Cli<autoware::component_interface_specs::vehicle_interface::DoorLayout> cli_layout_;
+  Sub<autoware::component_interface_specs::vehicle_interface::DoorStatus> sub_status_;
+  std::optional<autoware::component_interface_specs::vehicle_interface::DoorStatus::Message>
+    status_;
 };
 
 }  // namespace autoware::default_adapi

From d3fc4a9046ac75331dc3b81076f2b43053108c0f Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve.fernandez@tier4.jp>
Date: Tue, 22 Oct 2024 00:32:10 +0200
Subject: [PATCH 2/3] shorten namespaces

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
---
 .../component_interface_specs/control.hpp     |  4 +-
 .../localization.hpp                          |  4 +-
 .../component_interface_specs/map.hpp         |  4 +-
 .../component_interface_specs/perception.hpp  |  4 +-
 .../component_interface_specs/planning.hpp    |  4 +-
 .../component_interface_specs/system.hpp      |  4 +-
 .../component_interface_specs/vehicle.hpp     |  4 +-
 .../test/test_control.cpp                     |  6 +--
 .../test/test_localization.cpp                |  6 +--
 .../test/test_map.cpp                         |  2 +-
 .../test/test_perception.cpp                  |  2 +-
 .../test/test_planning.cpp                    |  6 +--
 .../test/test_system.cpp                      |  4 +-
 .../test/test_vehicle.cpp                     | 10 ++--
 .../src/node.hpp                              |  6 +--
 .../src/adapi_pause_interface.hpp             |  6 +--
 .../src/moderate_stop_interface.hpp           |  6 +--
 .../predicted_path_checker_node.hpp           |  8 ++--
 .../predicted_path_checker_node.cpp           |  4 +-
 .../src/geo_pose_projector.hpp                |  2 +-
 .../src/ekf_localization_trigger_module.cpp   |  2 +-
 .../src/gnss_module.cpp                       |  2 +-
 .../src/localization_module.cpp               |  2 +-
 .../src/ndt_localization_trigger_module.cpp   |  2 +-
 .../src/pose_initializer_core.hpp             |  4 +-
 .../map_projection_loader.hpp                 |  2 +-
 .../map_loader/lanelet2_map_loader_node.hpp   |  2 +-
 .../autoware/gnss_poser/gnss_poser_node.hpp   |  2 +-
 .../autoware_default_adapi/src/fail_safe.hpp  |  2 +-
 .../src/localization.hpp                      |  4 +-
 system/autoware_default_adapi/src/motion.cpp  |  6 +--
 system/autoware_default_adapi/src/motion.hpp  | 10 ++--
 .../src/operation_mode.hpp                    | 10 ++--
 .../autoware_default_adapi/src/perception.cpp |  2 +-
 .../autoware_default_adapi/src/perception.hpp |  4 +-
 .../autoware_default_adapi/src/planning.hpp   |  8 ++--
 system/autoware_default_adapi/src/routing.cpp |  2 +-
 system/autoware_default_adapi/src/routing.hpp | 20 ++++----
 system/autoware_default_adapi/src/vehicle.cpp | 16 +++----
 system/autoware_default_adapi/src/vehicle.hpp | 48 +++++++++----------
 .../src/vehicle_door.cpp                      |  4 +-
 .../src/vehicle_door.hpp                      | 10 ++--
 42 files changed, 130 insertions(+), 130 deletions(-)

diff --git a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp
index ead0ae859c14a..03c93d75d674b 100644
--- a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp
+++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/control.hpp
@@ -23,7 +23,7 @@
 #include <tier4_control_msgs/srv/set_pause.hpp>
 #include <tier4_control_msgs/srv/set_stop.hpp>
 
-namespace autoware::component_interface_specs::control_interface
+namespace autoware::component_interface_specs::control
 {
 
 struct SetPause
@@ -65,6 +65,6 @@ struct IsStopped
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace autoware::component_interface_specs::control_interface
+}  // namespace autoware::component_interface_specs::control
 
 #endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__CONTROL_HPP_
diff --git a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp
index b854d4a230731..b2e41a179506a 100644
--- a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp
+++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/localization.hpp
@@ -22,7 +22,7 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <tier4_localization_msgs/srv/initialize_localization.hpp>
 
-namespace autoware::component_interface_specs::localization_interface
+namespace autoware::component_interface_specs::localization
 {
 
 struct Initialize
@@ -58,6 +58,6 @@ struct Acceleration
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace autoware::component_interface_specs::localization_interface
+}  // namespace autoware::component_interface_specs::localization
 
 #endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__LOCALIZATION_HPP_
diff --git a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp
index 58cea59338b5b..dd1c300a7a2ca 100644
--- a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp
+++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/map.hpp
@@ -19,7 +19,7 @@
 
 #include <tier4_map_msgs/msg/map_projector_info.hpp>
 
-namespace autoware::component_interface_specs::map_interface
+namespace autoware::component_interface_specs::map
 {
 
 struct MapProjectorInfo
@@ -31,6 +31,6 @@ struct MapProjectorInfo
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace autoware::component_interface_specs::map_interface
+}  // namespace autoware::component_interface_specs::map
 
 #endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__MAP_HPP_
diff --git a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp
index fe441360d4d44..4f450e6a3ee1c 100644
--- a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp
+++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/perception.hpp
@@ -19,7 +19,7 @@
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 
-namespace autoware::component_interface_specs::perception_interface
+namespace autoware::component_interface_specs::perception
 {
 
 struct ObjectRecognition
@@ -31,6 +31,6 @@ struct ObjectRecognition
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace autoware::component_interface_specs::perception_interface
+}  // namespace autoware::component_interface_specs::perception
 
 #endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__PERCEPTION_HPP_
diff --git a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp
index e4b97bda94d95..247844123881b 100644
--- a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp
+++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/planning.hpp
@@ -24,7 +24,7 @@
 #include <tier4_planning_msgs/srv/set_lanelet_route.hpp>
 #include <tier4_planning_msgs/srv/set_waypoint_route.hpp>
 
-namespace autoware::component_interface_specs::planning_interface
+namespace autoware::component_interface_specs::planning
 {
 
 struct SetLaneletRoute
@@ -73,6 +73,6 @@ struct Trajectory
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace autoware::component_interface_specs::planning_interface
+}  // namespace autoware::component_interface_specs::planning
 
 #endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__PLANNING_HPP_
diff --git a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp
index 0274142744f2e..6ae3447c0786d 100644
--- a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp
+++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/system.hpp
@@ -22,7 +22,7 @@
 #include <tier4_system_msgs/srv/change_autoware_control.hpp>
 #include <tier4_system_msgs/srv/change_operation_mode.hpp>
 
-namespace autoware::component_interface_specs::system_interface
+namespace autoware::component_interface_specs::system
 {
 
 struct MrmState
@@ -55,6 +55,6 @@ struct OperationModeState
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace autoware::component_interface_specs::system_interface
+}  // namespace autoware::component_interface_specs::system
 
 #endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__SYSTEM_HPP_
diff --git a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp
index 13939e5f1b86d..945853d8f532e 100644
--- a/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp
+++ b/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp
@@ -26,7 +26,7 @@
 #include <autoware_vehicle_msgs/msg/turn_indicators_report.hpp>
 #include <tier4_vehicle_msgs/msg/battery_status.hpp>
 
-namespace autoware::component_interface_specs::vehicle_interface
+namespace autoware::component_interface_specs::vehicle
 {
 
 struct SteeringStatus
@@ -95,6 +95,6 @@ struct DoorStatus
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace autoware::component_interface_specs::vehicle_interface
+}  // namespace autoware::component_interface_specs::vehicle
 
 #endif  // AUTOWARE__COMPONENT_INTERFACE_SPECS__VEHICLE_HPP_
diff --git a/common/autoware_component_interface_specs/test/test_control.cpp b/common/autoware_component_interface_specs/test/test_control.cpp
index 5db6bfb4c48f2..db6e7817e7a9d 100644
--- a/common/autoware_component_interface_specs/test/test_control.cpp
+++ b/common/autoware_component_interface_specs/test/test_control.cpp
@@ -18,7 +18,7 @@
 TEST(control, interface)
 {
   {
-    using autoware::component_interface_specs::control_interface::IsPaused;
+    using autoware::component_interface_specs::control::IsPaused;
     IsPaused is_paused;
     size_t depth = 1;
     EXPECT_EQ(is_paused.depth, depth);
@@ -27,7 +27,7 @@ TEST(control, interface)
   }
 
   {
-    using autoware::component_interface_specs::control_interface::IsStartRequested;
+    using autoware::component_interface_specs::control::IsStartRequested;
     IsStartRequested is_start_requested;
     size_t depth = 1;
     EXPECT_EQ(is_start_requested.depth, depth);
@@ -36,7 +36,7 @@ TEST(control, interface)
   }
 
   {
-    using autoware::component_interface_specs::control_interface::IsStopped;
+    using autoware::component_interface_specs::control::IsStopped;
     IsStopped is_stopped;
     size_t depth = 1;
     EXPECT_EQ(is_stopped.depth, depth);
diff --git a/common/autoware_component_interface_specs/test/test_localization.cpp b/common/autoware_component_interface_specs/test/test_localization.cpp
index 5d6036e274802..18ec5f15acaf8 100644
--- a/common/autoware_component_interface_specs/test/test_localization.cpp
+++ b/common/autoware_component_interface_specs/test/test_localization.cpp
@@ -18,7 +18,7 @@
 TEST(localization, interface)
 {
   {
-    using autoware::component_interface_specs::localization_interface::InitializationState;
+    using autoware::component_interface_specs::localization::InitializationState;
     InitializationState initialization_state;
     size_t depth = 1;
     EXPECT_EQ(initialization_state.depth, depth);
@@ -27,7 +27,7 @@ TEST(localization, interface)
   }
 
   {
-    using autoware::component_interface_specs::localization_interface::KinematicState;
+    using autoware::component_interface_specs::localization::KinematicState;
     KinematicState kinematic_state;
     size_t depth = 1;
     EXPECT_EQ(kinematic_state.depth, depth);
@@ -36,7 +36,7 @@ TEST(localization, interface)
   }
 
   {
-    using autoware::component_interface_specs::localization_interface::Acceleration;
+    using autoware::component_interface_specs::localization::Acceleration;
     Acceleration acceleration;
     size_t depth = 1;
     EXPECT_EQ(acceleration.depth, depth);
diff --git a/common/autoware_component_interface_specs/test/test_map.cpp b/common/autoware_component_interface_specs/test/test_map.cpp
index ae406cca4e876..aafb33e73c9dc 100644
--- a/common/autoware_component_interface_specs/test/test_map.cpp
+++ b/common/autoware_component_interface_specs/test/test_map.cpp
@@ -18,7 +18,7 @@
 TEST(map, interface)
 {
   {
-    using autoware::component_interface_specs::map_interface::MapProjectorInfo;
+    using autoware::component_interface_specs::map::MapProjectorInfo;
     MapProjectorInfo map_projector;
     size_t depth = 1;
     EXPECT_EQ(map_projector.depth, depth);
diff --git a/common/autoware_component_interface_specs/test/test_perception.cpp b/common/autoware_component_interface_specs/test/test_perception.cpp
index 5c686e7b64994..8ad6d9dfceb6f 100644
--- a/common/autoware_component_interface_specs/test/test_perception.cpp
+++ b/common/autoware_component_interface_specs/test/test_perception.cpp
@@ -18,7 +18,7 @@
 TEST(perception, interface)
 {
   {
-    using autoware::component_interface_specs::perception_interface::ObjectRecognition;
+    using autoware::component_interface_specs::perception::ObjectRecognition;
     ObjectRecognition object_recognition;
     size_t depth = 1;
     EXPECT_EQ(object_recognition.depth, depth);
diff --git a/common/autoware_component_interface_specs/test/test_planning.cpp b/common/autoware_component_interface_specs/test/test_planning.cpp
index 9d8bff5a114f4..8278bf86f3861 100644
--- a/common/autoware_component_interface_specs/test/test_planning.cpp
+++ b/common/autoware_component_interface_specs/test/test_planning.cpp
@@ -18,7 +18,7 @@
 TEST(planning, interface)
 {
   {
-    using autoware::component_interface_specs::planning_interface::RouteState;
+    using autoware::component_interface_specs::planning::RouteState;
     RouteState state;
     size_t depth = 1;
     EXPECT_EQ(state.depth, depth);
@@ -27,7 +27,7 @@ TEST(planning, interface)
   }
 
   {
-    using autoware::component_interface_specs::planning_interface::LaneletRoute;
+    using autoware::component_interface_specs::planning::LaneletRoute;
     LaneletRoute route;
     size_t depth = 1;
     EXPECT_EQ(route.depth, depth);
@@ -36,7 +36,7 @@ TEST(planning, interface)
   }
 
   {
-    using autoware::component_interface_specs::planning_interface::Trajectory;
+    using autoware::component_interface_specs::planning::Trajectory;
     Trajectory trajectory;
     size_t depth = 1;
     EXPECT_EQ(trajectory.depth, depth);
diff --git a/common/autoware_component_interface_specs/test/test_system.cpp b/common/autoware_component_interface_specs/test/test_system.cpp
index 19dea82e89bd5..3faff08734905 100644
--- a/common/autoware_component_interface_specs/test/test_system.cpp
+++ b/common/autoware_component_interface_specs/test/test_system.cpp
@@ -18,7 +18,7 @@
 TEST(system, interface)
 {
   {
-    using autoware::component_interface_specs::system_interface::MrmState;
+    using autoware::component_interface_specs::system::MrmState;
     MrmState state;
     size_t depth = 1;
     EXPECT_EQ(state.depth, depth);
@@ -27,7 +27,7 @@ TEST(system, interface)
   }
 
   {
-    using autoware::component_interface_specs::system_interface::OperationModeState;
+    using autoware::component_interface_specs::system::OperationModeState;
     OperationModeState state;
     size_t depth = 1;
     EXPECT_EQ(state.depth, depth);
diff --git a/common/autoware_component_interface_specs/test/test_vehicle.cpp b/common/autoware_component_interface_specs/test/test_vehicle.cpp
index 1b87976571600..e9ee65e2fa210 100644
--- a/common/autoware_component_interface_specs/test/test_vehicle.cpp
+++ b/common/autoware_component_interface_specs/test/test_vehicle.cpp
@@ -18,7 +18,7 @@
 TEST(vehicle, interface)
 {
   {
-    using autoware::component_interface_specs::vehicle_interface::SteeringStatus;
+    using autoware::component_interface_specs::vehicle::SteeringStatus;
     SteeringStatus status;
     size_t depth = 1;
     EXPECT_EQ(status.depth, depth);
@@ -27,7 +27,7 @@ TEST(vehicle, interface)
   }
 
   {
-    using autoware::component_interface_specs::vehicle_interface::GearStatus;
+    using autoware::component_interface_specs::vehicle::GearStatus;
     GearStatus status;
     size_t depth = 1;
     EXPECT_EQ(status.depth, depth);
@@ -36,7 +36,7 @@ TEST(vehicle, interface)
   }
 
   {
-    using autoware::component_interface_specs::vehicle_interface::TurnIndicatorStatus;
+    using autoware::component_interface_specs::vehicle::TurnIndicatorStatus;
     TurnIndicatorStatus status;
     size_t depth = 1;
     EXPECT_EQ(status.depth, depth);
@@ -45,7 +45,7 @@ TEST(vehicle, interface)
   }
 
   {
-    using autoware::component_interface_specs::vehicle_interface::HazardLightStatus;
+    using autoware::component_interface_specs::vehicle::HazardLightStatus;
     HazardLightStatus status;
     size_t depth = 1;
     EXPECT_EQ(status.depth, depth);
@@ -54,7 +54,7 @@ TEST(vehicle, interface)
   }
 
   {
-    using autoware::component_interface_specs::vehicle_interface::EnergyStatus;
+    using autoware::component_interface_specs::vehicle::EnergyStatus;
     EnergyStatus status;
     size_t depth = 1;
     EXPECT_EQ(status.depth, depth);
diff --git a/control/autoware_operation_mode_transition_manager/src/node.hpp b/control/autoware_operation_mode_transition_manager/src/node.hpp
index d600bea805656..bbfdeb6a38791 100644
--- a/control/autoware_operation_mode_transition_manager/src/node.hpp
+++ b/control/autoware_operation_mode_transition_manager/src/node.hpp
@@ -36,11 +36,11 @@ class OperationModeTransitionManager : public rclcpp::Node
 
 private:
   using ChangeAutowareControlAPI =
-    autoware::component_interface_specs::system_interface::ChangeAutowareControl;
+    autoware::component_interface_specs::system::ChangeAutowareControl;
   using ChangeOperationModeAPI =
-    autoware::component_interface_specs::system_interface::ChangeOperationMode;
+    autoware::component_interface_specs::system::ChangeOperationMode;
   using OperationModeStateAPI =
-    autoware::component_interface_specs::system_interface::OperationModeState;
+    autoware::component_interface_specs::system::OperationModeState;
   component_interface_utils::Service<ChangeAutowareControlAPI>::SharedPtr srv_autoware_control_;
   component_interface_utils::Service<ChangeOperationModeAPI>::SharedPtr srv_operation_mode_;
   component_interface_utils::Publisher<OperationModeStateAPI>::SharedPtr pub_operation_mode_;
diff --git a/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp
index c876388963eb6..18e9bcead1b2b 100644
--- a/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp
+++ b/control/autoware_vehicle_cmd_gate/src/adapi_pause_interface.hpp
@@ -29,9 +29,9 @@ class AdapiPauseInterface
 private:
   static constexpr double eps = 1e-3;
   using Control = autoware_control_msgs::msg::Control;
-  using SetPause = autoware::component_interface_specs::control_interface::SetPause;
-  using IsPaused = autoware::component_interface_specs::control_interface::IsPaused;
-  using IsStartRequested = autoware::component_interface_specs::control_interface::IsStartRequested;
+  using SetPause = autoware::component_interface_specs::control::SetPause;
+  using IsPaused = autoware::component_interface_specs::control::IsPaused;
+  using IsStartRequested = autoware::component_interface_specs::control::IsStartRequested;
 
 public:
   explicit AdapiPauseInterface(rclcpp::Node * node);
diff --git a/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp
index b29c4a3c6822d..a9ac916d3c10d 100644
--- a/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp
+++ b/control/autoware_vehicle_cmd_gate/src/moderate_stop_interface.hpp
@@ -28,9 +28,9 @@ namespace autoware::vehicle_cmd_gate
 class ModerateStopInterface
 {
 private:
-  using SetStop = autoware::component_interface_specs::control_interface::SetStop;
-  using IsStopped = autoware::component_interface_specs::control_interface::IsStopped;
-  using IsStartRequested = autoware::component_interface_specs::control_interface::IsStartRequested;
+  using SetStop = autoware::component_interface_specs::control::SetStop;
+  using IsStopped = autoware::component_interface_specs::control::IsStopped;
+  using IsStartRequested = autoware::component_interface_specs::control::IsStartRequested;
 
 public:
   explicit ModerateStopInterface(rclcpp::Node * node);
diff --git a/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp b/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp
index 973c250ff6718..eed39f828873d 100644
--- a/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp
+++ b/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp
@@ -97,11 +97,11 @@ class PredictedPathCheckerNode : public rclcpp::Node
   rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_odom_;
   rclcpp::Subscription<geometry_msgs::msg::AccelWithCovarianceStamped>::SharedPtr sub_accel_;
   component_interface_utils::Subscription<
-    autoware::component_interface_specs::control_interface::IsStopped>::SharedPtr sub_stop_state_;
+    autoware::component_interface_specs::control::IsStopped>::SharedPtr sub_stop_state_;
 
   // Client
   component_interface_utils::Client<
-    autoware::component_interface_specs::control_interface::SetStop>::SharedPtr cli_set_stop_;
+    autoware::component_interface_specs::control::SetStop>::SharedPtr cli_set_stop_;
 
   // Data Buffer
   geometry_msgs::msg::PoseStamped::ConstSharedPtr current_pose_;
@@ -110,7 +110,7 @@ class PredictedPathCheckerNode : public rclcpp::Node
   PredictedObjects::ConstSharedPtr object_ptr_{nullptr};
   autoware_planning_msgs::msg::Trajectory::ConstSharedPtr reference_trajectory_;
   autoware_planning_msgs::msg::Trajectory::ConstSharedPtr predicted_trajectory_;
-  autoware::component_interface_specs::control_interface::IsStopped::Message::ConstSharedPtr
+  autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr
     is_stopped_ptr_{nullptr};
 
   // Core
@@ -130,7 +130,7 @@ class PredictedPathCheckerNode : public rclcpp::Node
   void onOdom(const nav_msgs::msg::Odometry::SharedPtr msg);
   void onAccel(const geometry_msgs::msg::AccelWithCovarianceStamped::SharedPtr msg);
   void onIsStopped(
-    const autoware::component_interface_specs::control_interface::IsStopped::Message::ConstSharedPtr
+    const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr
       msg);
 
   // Timer
diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
index 9bd7816566cf3..a84f84ed8edc0 100644
--- a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
+++ b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
@@ -132,7 +132,7 @@ void PredictedPathCheckerNode::onAccel(
 }
 
 void PredictedPathCheckerNode::onIsStopped(
-  const autoware::component_interface_specs::control_interface::IsStopped::Message::ConstSharedPtr
+  const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr
     msg)
 {
   is_stopped_ptr_ = msg;
@@ -417,7 +417,7 @@ void PredictedPathCheckerNode::sendRequest(bool make_stop_vehicle)
 {
   if (!is_calling_set_stop_ && cli_set_stop_->service_is_ready()) {
     const auto req = std::make_shared<
-      autoware::component_interface_specs::control_interface::SetStop::Service::Request>();
+      autoware::component_interface_specs::control::SetStop::Service::Request>();
     req->stop = make_stop_vehicle;
     req->request_source = "predicted_path_checker";
     is_calling_set_stop_ = true;
diff --git a/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp b/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp
index ff9e053ab91b3..493d6cb13246a 100644
--- a/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp
+++ b/localization/autoware_geo_pose_projector/src/geo_pose_projector.hpp
@@ -35,7 +35,7 @@ class GeoPoseProjector : public rclcpp::Node
 private:
   using GeoPoseWithCovariance = geographic_msgs::msg::GeoPoseWithCovarianceStamped;
   using PoseWithCovariance = geometry_msgs::msg::PoseWithCovarianceStamped;
-  using MapProjectorInfo = autoware::component_interface_specs::map_interface::MapProjectorInfo;
+  using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo;
 
 public:
   explicit GeoPoseProjector(const rclcpp::NodeOptions & options);
diff --git a/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp b/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp
index ab366dd65afc0..525ebfea4f07d 100644
--- a/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp
+++ b/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp
@@ -23,7 +23,7 @@
 namespace autoware::pose_initializer
 {
 using ServiceException = component_interface_utils::ServiceException;
-using Initialize = autoware::component_interface_specs::localization_interface::Initialize;
+using Initialize = autoware::component_interface_specs::localization::Initialize;
 
 EkfLocalizationTriggerModule::EkfLocalizationTriggerModule(rclcpp::Node * node) : node_(node)
 {
diff --git a/localization/autoware_pose_initializer/src/gnss_module.cpp b/localization/autoware_pose_initializer/src/gnss_module.cpp
index 2db89614905be..6d3979f2675ec 100644
--- a/localization/autoware_pose_initializer/src/gnss_module.cpp
+++ b/localization/autoware_pose_initializer/src/gnss_module.cpp
@@ -37,7 +37,7 @@ void GnssModule::on_pose(PoseWithCovarianceStamped::ConstSharedPtr msg)
 
 geometry_msgs::msg::PoseWithCovarianceStamped GnssModule::get_pose()
 {
-  using Initialize = autoware::component_interface_specs::localization_interface::Initialize;
+  using Initialize = autoware::component_interface_specs::localization::Initialize;
 
   if (!pose_) {
     throw component_interface_utils::ServiceException(
diff --git a/localization/autoware_pose_initializer/src/localization_module.cpp b/localization/autoware_pose_initializer/src/localization_module.cpp
index 73b2b556934c9..10345d2a39757 100644
--- a/localization/autoware_pose_initializer/src/localization_module.cpp
+++ b/localization/autoware_pose_initializer/src/localization_module.cpp
@@ -23,7 +23,7 @@
 namespace autoware::pose_initializer
 {
 using ServiceException = component_interface_utils::ServiceException;
-using Initialize = autoware::component_interface_specs::localization_interface::Initialize;
+using Initialize = autoware::component_interface_specs::localization::Initialize;
 using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped;
 
 LocalizationModule::LocalizationModule(rclcpp::Node * node, const std::string & service_name)
diff --git a/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp b/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp
index 757d2450366c6..39cb0f247c27f 100644
--- a/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp
+++ b/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp
@@ -23,7 +23,7 @@
 namespace autoware::pose_initializer
 {
 using ServiceException = component_interface_utils::ServiceException;
-using Initialize = autoware::component_interface_specs::localization_interface::Initialize;
+using Initialize = autoware::component_interface_specs::localization::Initialize;
 
 NdtLocalizationTriggerModule::NdtLocalizationTriggerModule(rclcpp::Node * node) : node_(node)
 {
diff --git a/localization/autoware_pose_initializer/src/pose_initializer_core.hpp b/localization/autoware_pose_initializer/src/pose_initializer_core.hpp
index c1adde1dcbb5b..20922e4d46747 100644
--- a/localization/autoware_pose_initializer/src/pose_initializer_core.hpp
+++ b/localization/autoware_pose_initializer/src/pose_initializer_core.hpp
@@ -42,8 +42,8 @@ class PoseInitializer : public rclcpp::Node
 
 private:
   using ServiceException = component_interface_utils::ServiceException;
-  using Initialize = autoware::component_interface_specs::localization_interface::Initialize;
-  using State = autoware::component_interface_specs::localization_interface::InitializationState;
+  using Initialize = autoware::component_interface_specs::localization::Initialize;
+  using State = autoware::component_interface_specs::localization::InitializationState;
   using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped;
 
   rclcpp::CallbackGroup::SharedPtr group_srv_;
diff --git a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp
index 1bb55cf871df9..7abfd119ae412 100644
--- a/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp
+++ b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp
@@ -34,7 +34,7 @@ class MapProjectionLoader : public rclcpp::Node
   explicit MapProjectionLoader(const rclcpp::NodeOptions & options);
 
 private:
-  using MapProjectorInfo = autoware::component_interface_specs::map_interface::MapProjectorInfo;
+  using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo;
   component_interface_utils::Publisher<MapProjectorInfo>::SharedPtr publisher_;
 };
 }  // namespace autoware::map_projection_loader
diff --git a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp
index ca1077d336ede..8f182e13ca346 100644
--- a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp
+++ b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp
@@ -44,7 +44,7 @@ class Lanelet2MapLoaderNode : public rclcpp::Node
     const rclcpp::Time & now);
 
 private:
-  using MapProjectorInfo = autoware::component_interface_specs::map_interface::MapProjectorInfo;
+  using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo;
 
   void on_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg);
 
diff --git a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp
index 2727e2b7dde6f..0f3437a2a8881 100644
--- a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp
+++ b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp
@@ -47,7 +47,7 @@ class GNSSPoser : public rclcpp::Node
   explicit GNSSPoser(const rclcpp::NodeOptions & node_options);
 
 private:
-  using MapProjectorInfo = autoware::component_interface_specs::map_interface::MapProjectorInfo;
+  using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo;
 
   void callback_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg);
   void callback_nav_sat_fix(const sensor_msgs::msg::NavSatFix::ConstSharedPtr nav_sat_fix_msg_ptr);
diff --git a/system/autoware_default_adapi/src/fail_safe.hpp b/system/autoware_default_adapi/src/fail_safe.hpp
index 9e7a77d944523..7b42b97205672 100644
--- a/system/autoware_default_adapi/src/fail_safe.hpp
+++ b/system/autoware_default_adapi/src/fail_safe.hpp
@@ -34,7 +34,7 @@ class FailSafeNode : public rclcpp::Node
 private:
   using MrmState = autoware_ad_api::fail_safe::MrmState::Message;
   Pub<autoware_ad_api::fail_safe::MrmState> pub_mrm_state_;
-  Sub<autoware::component_interface_specs::system_interface::MrmState> sub_mrm_state_;
+  Sub<autoware::component_interface_specs::system::MrmState> sub_mrm_state_;
   MrmState prev_state_;
   void on_state(const MrmState::ConstSharedPtr msg);
 };
diff --git a/system/autoware_default_adapi/src/localization.hpp b/system/autoware_default_adapi/src/localization.hpp
index 23f83738cf25f..dbbc106621156 100644
--- a/system/autoware_default_adapi/src/localization.hpp
+++ b/system/autoware_default_adapi/src/localization.hpp
@@ -34,8 +34,8 @@ class LocalizationNode : public rclcpp::Node
   rclcpp::CallbackGroup::SharedPtr group_cli_;
   Srv<autoware_ad_api::localization::Initialize> srv_initialize_;
   Pub<autoware_ad_api::localization::InitializationState> pub_state_;
-  Cli<autoware::component_interface_specs::localization_interface::Initialize> cli_initialize_;
-  Sub<autoware::component_interface_specs::localization_interface::InitializationState> sub_state_;
+  Cli<autoware::component_interface_specs::localization::Initialize> cli_initialize_;
+  Sub<autoware::component_interface_specs::localization::InitializationState> sub_state_;
 
   void on_initialize(
     const autoware_ad_api::localization::Initialize::Service::Request::SharedPtr req,
diff --git a/system/autoware_default_adapi/src/motion.cpp b/system/autoware_default_adapi/src/motion.cpp
index 96a3d964c1d0a..32cb1f835bf96 100644
--- a/system/autoware_default_adapi/src/motion.cpp
+++ b/system/autoware_default_adapi/src/motion.cpp
@@ -122,7 +122,7 @@ void MotionNode::change_pause(bool pause)
 {
   if (!is_calling_set_pause_ && cli_set_pause_->service_is_ready()) {
     const auto req = std::make_shared<
-      autoware::component_interface_specs::control_interface::SetPause::Service::Request>();
+      autoware::component_interface_specs::control::SetPause::Service::Request>();
     req->pause = pause;
     is_calling_set_pause_ = true;
     cli_set_pause_->async_send_request(req, [this](auto) { is_calling_set_pause_ = false; });
@@ -135,7 +135,7 @@ void MotionNode::on_timer()
 }
 
 void MotionNode::on_is_paused(
-  const autoware::component_interface_specs::control_interface::IsPaused::Message::ConstSharedPtr
+  const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr
     msg)
 {
   is_paused_ = msg->data;
@@ -143,7 +143,7 @@ void MotionNode::on_is_paused(
 }
 
 void MotionNode::on_is_start_requested(
-  const autoware::component_interface_specs::control_interface::IsStartRequested::Message::
+  const autoware::component_interface_specs::control::IsStartRequested::Message::
     ConstSharedPtr msg)
 {
   is_start_requested_ = msg->data;
diff --git a/system/autoware_default_adapi/src/motion.hpp b/system/autoware_default_adapi/src/motion.hpp
index 367f502e38d83..510353fe8da92 100644
--- a/system/autoware_default_adapi/src/motion.hpp
+++ b/system/autoware_default_adapi/src/motion.hpp
@@ -39,9 +39,9 @@ class MotionNode : public rclcpp::Node
   rclcpp::CallbackGroup::SharedPtr group_cli_;
   Srv<autoware_ad_api::motion::AcceptStart> srv_accept_;
   Pub<autoware_ad_api::motion::State> pub_state_;
-  Cli<autoware::component_interface_specs::control_interface::SetPause> cli_set_pause_;
-  Sub<autoware::component_interface_specs::control_interface::IsPaused> sub_is_paused_;
-  Sub<autoware::component_interface_specs::control_interface::IsStartRequested>
+  Cli<autoware::component_interface_specs::control::SetPause> cli_set_pause_;
+  Sub<autoware::component_interface_specs::control::IsPaused> sub_is_paused_;
+  Sub<autoware::component_interface_specs::control::IsStartRequested>
     sub_is_start_requested_;
 
   enum class State { Unknown, Pausing, Paused, Starting, Resuming, Resumed, Moving };
@@ -59,9 +59,9 @@ class MotionNode : public rclcpp::Node
   void change_pause(bool pause);
   void on_timer();
   void on_is_paused(
-    const autoware::component_interface_specs::control_interface::IsPaused::Message::ConstSharedPtr
+    const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr
       msg);
-  void on_is_start_requested(const autoware::component_interface_specs::control_interface::
+  void on_is_start_requested(const autoware::component_interface_specs::control::
                                IsStartRequested::Message::ConstSharedPtr msg);
   void on_accept(
     const autoware_ad_api::motion::AcceptStart::Service::Request::SharedPtr req,
diff --git a/system/autoware_default_adapi/src/operation_mode.hpp b/system/autoware_default_adapi/src/operation_mode.hpp
index d6dbc68027229..c76cd5f92cdf0 100644
--- a/system/autoware_default_adapi/src/operation_mode.hpp
+++ b/system/autoware_default_adapi/src/operation_mode.hpp
@@ -46,9 +46,9 @@ class OperationModeNode : public rclcpp::Node
   using ChangeToLocal = autoware_ad_api::operation_mode::ChangeToLocal;
   using ChangeToRemote = autoware_ad_api::operation_mode::ChangeToRemote;
   using OperationModeRequest =
-    autoware::component_interface_specs::system_interface::ChangeOperationMode::Service::Request;
+    autoware::component_interface_specs::system::ChangeOperationMode::Service::Request;
   using AutowareControlRequest =
-    autoware::component_interface_specs::system_interface::ChangeAutowareControl::Service::Request;
+    autoware::component_interface_specs::system::ChangeAutowareControl::Service::Request;
   using OperationModeAvailability = tier4_system_msgs::msg::OperationModeAvailability;
 
   OperationModeState::Message curr_state_;
@@ -64,9 +64,9 @@ class OperationModeNode : public rclcpp::Node
   Srv<autoware_ad_api::operation_mode::ChangeToRemote> srv_remote_mode_;
   Srv<autoware_ad_api::operation_mode::EnableAutowareControl> srv_enable_control_;
   Srv<autoware_ad_api::operation_mode::DisableAutowareControl> srv_disable_control_;
-  Sub<autoware::component_interface_specs::system_interface::OperationModeState> sub_state_;
-  Cli<autoware::component_interface_specs::system_interface::ChangeOperationMode> cli_mode_;
-  Cli<autoware::component_interface_specs::system_interface::ChangeAutowareControl> cli_control_;
+  Sub<autoware::component_interface_specs::system::OperationModeState> sub_state_;
+  Cli<autoware::component_interface_specs::system::ChangeOperationMode> cli_mode_;
+  Cli<autoware::component_interface_specs::system::ChangeAutowareControl> cli_control_;
   rclcpp::Subscription<OperationModeAvailability>::SharedPtr sub_availability_;
 
   void on_change_to_stop(
diff --git a/system/autoware_default_adapi/src/perception.cpp b/system/autoware_default_adapi/src/perception.cpp
index 2e751d4ced2e5..6432746827f20 100644
--- a/system/autoware_default_adapi/src/perception.cpp
+++ b/system/autoware_default_adapi/src/perception.cpp
@@ -50,7 +50,7 @@ uint8_t PerceptionNode::mapping(
 }
 
 void PerceptionNode::object_recognize(
-  const autoware::component_interface_specs::perception_interface::ObjectRecognition::Message::
+  const autoware::component_interface_specs::perception::ObjectRecognition::Message::
     ConstSharedPtr msg)
 {
   DynamicObjectArray::Message objects;
diff --git a/system/autoware_default_adapi/src/perception.hpp b/system/autoware_default_adapi/src/perception.hpp
index 342059571a8b3..2685990082bf9 100644
--- a/system/autoware_default_adapi/src/perception.hpp
+++ b/system/autoware_default_adapi/src/perception.hpp
@@ -41,9 +41,9 @@ class PerceptionNode : public rclcpp::Node
 
 private:
   Pub<autoware_ad_api::perception::DynamicObjectArray> pub_object_recognized_;
-  Sub<autoware::component_interface_specs::perception_interface::ObjectRecognition>
+  Sub<autoware::component_interface_specs::perception::ObjectRecognition>
     sub_object_recognized_;
-  void object_recognize(const autoware::component_interface_specs::perception_interface::
+  void object_recognize(const autoware::component_interface_specs::perception::
                           ObjectRecognition::Message::ConstSharedPtr msg);
   uint8_t mapping(
     std::unordered_map<uint8_t, uint8_t> hash_map, uint8_t input, uint8_t default_value);
diff --git a/system/autoware_default_adapi/src/planning.hpp b/system/autoware_default_adapi/src/planning.hpp
index ae70162a72205..a4e4b0fe0b408 100644
--- a/system/autoware_default_adapi/src/planning.hpp
+++ b/system/autoware_default_adapi/src/planning.hpp
@@ -40,8 +40,8 @@ class PlanningNode : public rclcpp::Node
   using SteeringFactorArray = autoware_adapi_v1_msgs::msg::SteeringFactorArray;
   Pub<autoware_ad_api::planning::VelocityFactors> pub_velocity_factors_;
   Pub<autoware_ad_api::planning::SteeringFactors> pub_steering_factors_;
-  Sub<autoware::component_interface_specs::planning_interface::Trajectory> sub_trajectory_;
-  Sub<autoware::component_interface_specs::localization_interface::KinematicState>
+  Sub<autoware::component_interface_specs::planning::Trajectory> sub_trajectory_;
+  Sub<autoware::component_interface_specs::localization::KinematicState>
     sub_kinematic_state_;
   std::vector<rclcpp::Subscription<VelocityFactorArray>::SharedPtr> sub_velocity_factors_;
   std::vector<rclcpp::Subscription<SteeringFactorArray>::SharedPtr> sub_steering_factors_;
@@ -50,9 +50,9 @@ class PlanningNode : public rclcpp::Node
   rclcpp::TimerBase::SharedPtr timer_;
 
   using VehicleStopChecker = autoware::motion_utils::VehicleStopCheckerBase;
-  using Trajectory = autoware::component_interface_specs::planning_interface::Trajectory::Message;
+  using Trajectory = autoware::component_interface_specs::planning::Trajectory::Message;
   using KinematicState =
-    autoware::component_interface_specs::localization_interface::KinematicState::Message;
+    autoware::component_interface_specs::localization::KinematicState::Message;
   void on_trajectory(const Trajectory::ConstSharedPtr msg);
   void on_kinematic_state(const KinematicState::ConstSharedPtr msg);
   void on_timer();
diff --git a/system/autoware_default_adapi/src/routing.cpp b/system/autoware_default_adapi/src/routing.cpp
index 460cf73659890..bdb745b0e0dac 100644
--- a/system/autoware_default_adapi/src/routing.cpp
+++ b/system/autoware_default_adapi/src/routing.cpp
@@ -75,7 +75,7 @@ RoutingNode::RoutingNode(const rclcpp::NodeOptions & options) : Node("routing",
 void RoutingNode::change_stop_mode()
 {
   using OperationModeRequest =
-    autoware::component_interface_specs::system_interface::ChangeOperationMode::Service::Request;
+    autoware::component_interface_specs::system::ChangeOperationMode::Service::Request;
   if (is_auto_mode_) {
     const auto req = std::make_shared<OperationModeRequest>();
     req->mode = OperationModeRequest::STOP;
diff --git a/system/autoware_default_adapi/src/routing.hpp b/system/autoware_default_adapi/src/routing.hpp
index 3eabb4b619904..9de3f312e5b39 100644
--- a/system/autoware_default_adapi/src/routing.hpp
+++ b/system/autoware_default_adapi/src/routing.hpp
@@ -34,9 +34,9 @@ class RoutingNode : public rclcpp::Node
 
 private:
   using OperationModeState =
-    autoware::component_interface_specs::system_interface::OperationModeState;
-  using State = autoware::component_interface_specs::planning_interface::RouteState;
-  using Route = autoware::component_interface_specs::planning_interface::LaneletRoute;
+    autoware::component_interface_specs::system::OperationModeState;
+  using State = autoware::component_interface_specs::planning::RouteState;
+  using Route = autoware::component_interface_specs::planning::LaneletRoute;
 
   rclcpp::CallbackGroup::SharedPtr group_cli_;
   Pub<autoware_ad_api::routing::RouteState> pub_state_;
@@ -46,16 +46,16 @@ class RoutingNode : public rclcpp::Node
   Srv<autoware_ad_api::routing::ChangeRoutePoints> srv_change_route_points_;
   Srv<autoware_ad_api::routing::ChangeRoute> srv_change_route_;
   Srv<autoware_ad_api::routing::ClearRoute> srv_clear_route_;
-  Sub<autoware::component_interface_specs::planning_interface::RouteState> sub_state_;
-  Sub<autoware::component_interface_specs::planning_interface::LaneletRoute> sub_route_;
-  Cli<autoware::component_interface_specs::planning_interface::SetWaypointRoute>
+  Sub<autoware::component_interface_specs::planning::RouteState> sub_state_;
+  Sub<autoware::component_interface_specs::planning::LaneletRoute> sub_route_;
+  Cli<autoware::component_interface_specs::planning::SetWaypointRoute>
     cli_set_waypoint_route_;
-  Cli<autoware::component_interface_specs::planning_interface::SetLaneletRoute>
+  Cli<autoware::component_interface_specs::planning::SetLaneletRoute>
     cli_set_lanelet_route_;
-  Cli<autoware::component_interface_specs::planning_interface::ClearRoute> cli_clear_route_;
-  Cli<autoware::component_interface_specs::system_interface::ChangeOperationMode>
+  Cli<autoware::component_interface_specs::planning::ClearRoute> cli_clear_route_;
+  Cli<autoware::component_interface_specs::system::ChangeOperationMode>
     cli_operation_mode_;
-  Sub<autoware::component_interface_specs::system_interface::OperationModeState>
+  Sub<autoware::component_interface_specs::system::OperationModeState>
     sub_operation_mode_;
   bool is_auto_mode_;
   State::Message state_;
diff --git a/system/autoware_default_adapi/src/vehicle.cpp b/system/autoware_default_adapi/src/vehicle.cpp
index 8542fa1b973c1..bc0a7b9cf8110 100644
--- a/system/autoware_default_adapi/src/vehicle.cpp
+++ b/system/autoware_default_adapi/src/vehicle.cpp
@@ -24,16 +24,16 @@
 namespace autoware::default_adapi
 {
 
-using GearReport = autoware::component_interface_specs::vehicle_interface::GearStatus::Message;
+using GearReport = autoware::component_interface_specs::vehicle::GearStatus::Message;
 using ApiGear = autoware_adapi_v1_msgs::msg::Gear;
 using TurnIndicatorsReport =
-  autoware::component_interface_specs::vehicle_interface::TurnIndicatorStatus::Message;
+  autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message;
 using ApiTurnIndicator = autoware_adapi_v1_msgs::msg::TurnIndicators;
 using HazardLightsReport =
-  autoware::component_interface_specs::vehicle_interface::HazardLightStatus::Message;
+  autoware::component_interface_specs::vehicle::HazardLightStatus::Message;
 using ApiHazardLight = autoware_adapi_v1_msgs::msg::HazardLights;
 using MapProjectorInfo =
-  autoware::component_interface_specs::map_interface::MapProjectorInfo::Message;
+  autoware::component_interface_specs::map::MapProjectorInfo::Message;
 
 std::unordered_map<uint8_t, uint8_t> gear_type_ = {
   {GearReport::NONE, ApiGear::UNKNOWN},    {GearReport::NEUTRAL, ApiGear::NEUTRAL},
@@ -92,20 +92,20 @@ uint8_t VehicleNode::mapping(
 }
 
 void VehicleNode::kinematic_state(
-  const autoware::component_interface_specs::localization_interface::KinematicState::Message::
+  const autoware::component_interface_specs::localization::KinematicState::Message::
     ConstSharedPtr msg_ptr)
 {
   kinematic_state_msgs_ = msg_ptr;
 }
 
 void VehicleNode::acceleration_status(
-  const autoware::component_interface_specs::localization_interface::Acceleration::Message::
+  const autoware::component_interface_specs::localization::Acceleration::Message::
     ConstSharedPtr msg_ptr)
 {
   acceleration_msgs_ = msg_ptr;
 }
 
-void VehicleNode::steering_status(const autoware::component_interface_specs::vehicle_interface::
+void VehicleNode::steering_status(const autoware::component_interface_specs::vehicle::
                                     SteeringStatus::Message::ConstSharedPtr msg_ptr)
 {
   steering_status_msgs_ = msg_ptr;
@@ -126,7 +126,7 @@ void VehicleNode::hazard_light_status(const HazardLightsReport::ConstSharedPtr m
   hazard_light_status_msgs_ = msg_ptr;
 }
 
-void VehicleNode::energy_status(const autoware::component_interface_specs::vehicle_interface::
+void VehicleNode::energy_status(const autoware::component_interface_specs::vehicle::
                                   EnergyStatus::Message::ConstSharedPtr msg_ptr)
 {
   energy_status_msgs_ = msg_ptr;
diff --git a/system/autoware_default_adapi/src/vehicle.hpp b/system/autoware_default_adapi/src/vehicle.hpp
index fbe6fb5e97aec..873d53a142394 100644
--- a/system/autoware_default_adapi/src/vehicle.hpp
+++ b/system/autoware_default_adapi/src/vehicle.hpp
@@ -42,50 +42,50 @@ class VehicleNode : public rclcpp::Node
   rclcpp::CallbackGroup::SharedPtr group_cli_;
   Pub<autoware_ad_api::vehicle::VehicleKinematics> pub_kinematics_;
   Pub<autoware_ad_api::vehicle::VehicleStatus> pub_status_;
-  Sub<autoware::component_interface_specs::localization_interface::KinematicState>
+  Sub<autoware::component_interface_specs::localization::KinematicState>
     sub_kinematic_state_;
-  Sub<autoware::component_interface_specs::localization_interface::Acceleration> sub_acceleration_;
-  Sub<autoware::component_interface_specs::vehicle_interface::SteeringStatus> sub_steering_;
-  Sub<autoware::component_interface_specs::vehicle_interface::GearStatus> sub_gear_state_;
-  Sub<autoware::component_interface_specs::vehicle_interface::TurnIndicatorStatus>
+  Sub<autoware::component_interface_specs::localization::Acceleration> sub_acceleration_;
+  Sub<autoware::component_interface_specs::vehicle::SteeringStatus> sub_steering_;
+  Sub<autoware::component_interface_specs::vehicle::GearStatus> sub_gear_state_;
+  Sub<autoware::component_interface_specs::vehicle::TurnIndicatorStatus>
     sub_turn_indicator_;
-  Sub<autoware::component_interface_specs::vehicle_interface::HazardLightStatus> sub_hazard_light_;
-  Sub<autoware::component_interface_specs::vehicle_interface::EnergyStatus> sub_energy_level_;
-  Sub<autoware::component_interface_specs::map_interface::MapProjectorInfo> sub_map_projector_info_;
+  Sub<autoware::component_interface_specs::vehicle::HazardLightStatus> sub_hazard_light_;
+  Sub<autoware::component_interface_specs::vehicle::EnergyStatus> sub_energy_level_;
+  Sub<autoware::component_interface_specs::map::MapProjectorInfo> sub_map_projector_info_;
   rclcpp::TimerBase::SharedPtr timer_;
 
-  autoware::component_interface_specs::localization_interface::KinematicState::Message::
+  autoware::component_interface_specs::localization::KinematicState::Message::
     ConstSharedPtr kinematic_state_msgs_;
-  autoware::component_interface_specs::localization_interface::Acceleration::Message::ConstSharedPtr
+  autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr
     acceleration_msgs_;
-  autoware::component_interface_specs::vehicle_interface::SteeringStatus::Message::ConstSharedPtr
+  autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr
     steering_status_msgs_;
-  autoware::component_interface_specs::vehicle_interface::GearStatus::Message::ConstSharedPtr
+  autoware::component_interface_specs::vehicle::GearStatus::Message::ConstSharedPtr
     gear_status_msgs_;
-  autoware::component_interface_specs::vehicle_interface::TurnIndicatorStatus::Message::
+  autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message::
     ConstSharedPtr turn_indicator_status_msgs_;
-  autoware::component_interface_specs::vehicle_interface::HazardLightStatus::Message::ConstSharedPtr
+  autoware::component_interface_specs::vehicle::HazardLightStatus::Message::ConstSharedPtr
     hazard_light_status_msgs_;
-  autoware::component_interface_specs::vehicle_interface::EnergyStatus::Message::ConstSharedPtr
+  autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr
     energy_status_msgs_;
-  autoware::component_interface_specs::map_interface::MapProjectorInfo::Message::ConstSharedPtr
+  autoware::component_interface_specs::map::MapProjectorInfo::Message::ConstSharedPtr
     map_projector_info_;
 
-  void kinematic_state(const autoware::component_interface_specs::localization_interface::
+  void kinematic_state(const autoware::component_interface_specs::localization::
                          KinematicState::Message::ConstSharedPtr msg_ptr);
-  void acceleration_status(const autoware::component_interface_specs::localization_interface::
+  void acceleration_status(const autoware::component_interface_specs::localization::
                              Acceleration::Message::ConstSharedPtr msg_ptr);
-  void steering_status(const autoware::component_interface_specs::vehicle_interface::
+  void steering_status(const autoware::component_interface_specs::vehicle::
                          SteeringStatus::Message::ConstSharedPtr msg_ptr);
-  void gear_status(const autoware::component_interface_specs::vehicle_interface::GearStatus::
+  void gear_status(const autoware::component_interface_specs::vehicle::GearStatus::
                      Message::ConstSharedPtr msg_ptr);
-  void turn_indicator_status(const autoware::component_interface_specs::vehicle_interface::
+  void turn_indicator_status(const autoware::component_interface_specs::vehicle::
                                TurnIndicatorStatus::Message::ConstSharedPtr msg_ptr);
-  void map_projector_info(const autoware::component_interface_specs::map_interface::
+  void map_projector_info(const autoware::component_interface_specs::map::
                             MapProjectorInfo::Message::ConstSharedPtr msg_ptr);
-  void hazard_light_status(const autoware::component_interface_specs::vehicle_interface::
+  void hazard_light_status(const autoware::component_interface_specs::vehicle::
                              HazardLightStatus::Message::ConstSharedPtr msg_ptr);
-  void energy_status(const autoware::component_interface_specs::vehicle_interface::EnergyStatus::
+  void energy_status(const autoware::component_interface_specs::vehicle::EnergyStatus::
                        Message::ConstSharedPtr msg_ptr);
   uint8_t mapping(
     std::unordered_map<uint8_t, uint8_t> hash_map, uint8_t input, uint8_t default_value);
diff --git a/system/autoware_default_adapi/src/vehicle_door.cpp b/system/autoware_default_adapi/src/vehicle_door.cpp
index 091b189c8a058..8c0c63c972de4 100644
--- a/system/autoware_default_adapi/src/vehicle_door.cpp
+++ b/system/autoware_default_adapi/src/vehicle_door.cpp
@@ -31,12 +31,12 @@ VehicleDoorNode::VehicleDoorNode(const rclcpp::NodeOptions & options)
 }
 
 void VehicleDoorNode::on_status(
-  autoware::component_interface_specs::vehicle_interface::DoorStatus::Message::ConstSharedPtr msg)
+  autoware::component_interface_specs::vehicle::DoorStatus::Message::ConstSharedPtr msg)
 {
   utils::notify(
     pub_status_, status_, *msg,
     utils::ignore_stamp<
-      autoware::component_interface_specs::vehicle_interface::DoorStatus::Message>);
+      autoware::component_interface_specs::vehicle::DoorStatus::Message>);
 }
 
 }  // namespace autoware::default_adapi
diff --git a/system/autoware_default_adapi/src/vehicle_door.hpp b/system/autoware_default_adapi/src/vehicle_door.hpp
index f0a461acc86ef..404a65f7ad95f 100644
--- a/system/autoware_default_adapi/src/vehicle_door.hpp
+++ b/system/autoware_default_adapi/src/vehicle_door.hpp
@@ -34,16 +34,16 @@ class VehicleDoorNode : public rclcpp::Node
 
 private:
   void on_status(
-    autoware::component_interface_specs::vehicle_interface::DoorStatus::Message::ConstSharedPtr
+    autoware::component_interface_specs::vehicle::DoorStatus::Message::ConstSharedPtr
       msg);
   rclcpp::CallbackGroup::SharedPtr group_cli_;
   Srv<autoware_ad_api::vehicle::DoorCommand> srv_command_;
   Srv<autoware_ad_api::vehicle::DoorLayout> srv_layout_;
   Pub<autoware_ad_api::vehicle::DoorStatus> pub_status_;
-  Cli<autoware::component_interface_specs::vehicle_interface::DoorCommand> cli_command_;
-  Cli<autoware::component_interface_specs::vehicle_interface::DoorLayout> cli_layout_;
-  Sub<autoware::component_interface_specs::vehicle_interface::DoorStatus> sub_status_;
-  std::optional<autoware::component_interface_specs::vehicle_interface::DoorStatus::Message>
+  Cli<autoware::component_interface_specs::vehicle::DoorCommand> cli_command_;
+  Cli<autoware::component_interface_specs::vehicle::DoorLayout> cli_layout_;
+  Sub<autoware::component_interface_specs::vehicle::DoorStatus> sub_status_;
+  std::optional<autoware::component_interface_specs::vehicle::DoorStatus::Message>
     status_;
 };
 

From 8700bca0a9bf8df5cb165ccfda51ff2ec15392af Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Mon, 21 Oct 2024 22:34:15 +0000
Subject: [PATCH 3/3] style(pre-commit): autofix

---
 .../src/node.hpp                              |  6 +--
 .../predicted_path_checker_node.hpp           |  7 ++-
 .../predicted_path_checker_node.cpp           |  7 ++-
 system/autoware_default_adapi/src/motion.cpp  | 10 ++--
 system/autoware_default_adapi/src/motion.hpp  |  9 ++--
 .../autoware_default_adapi/src/perception.cpp |  4 +-
 .../autoware_default_adapi/src/perception.hpp |  7 ++-
 .../autoware_default_adapi/src/planning.hpp   |  6 +--
 system/autoware_default_adapi/src/routing.hpp | 15 ++----
 system/autoware_default_adapi/src/vehicle.cpp | 23 ++++----
 system/autoware_default_adapi/src/vehicle.hpp | 54 ++++++++++---------
 .../src/vehicle_door.cpp                      |  3 +-
 .../src/vehicle_door.hpp                      |  6 +--
 13 files changed, 72 insertions(+), 85 deletions(-)

diff --git a/control/autoware_operation_mode_transition_manager/src/node.hpp b/control/autoware_operation_mode_transition_manager/src/node.hpp
index bbfdeb6a38791..857217b2b23fc 100644
--- a/control/autoware_operation_mode_transition_manager/src/node.hpp
+++ b/control/autoware_operation_mode_transition_manager/src/node.hpp
@@ -37,10 +37,8 @@ class OperationModeTransitionManager : public rclcpp::Node
 private:
   using ChangeAutowareControlAPI =
     autoware::component_interface_specs::system::ChangeAutowareControl;
-  using ChangeOperationModeAPI =
-    autoware::component_interface_specs::system::ChangeOperationMode;
-  using OperationModeStateAPI =
-    autoware::component_interface_specs::system::OperationModeState;
+  using ChangeOperationModeAPI = autoware::component_interface_specs::system::ChangeOperationMode;
+  using OperationModeStateAPI = autoware::component_interface_specs::system::OperationModeState;
   component_interface_utils::Service<ChangeAutowareControlAPI>::SharedPtr srv_autoware_control_;
   component_interface_utils::Service<ChangeOperationModeAPI>::SharedPtr srv_operation_mode_;
   component_interface_utils::Publisher<OperationModeStateAPI>::SharedPtr pub_operation_mode_;
diff --git a/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp b/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp
index eed39f828873d..be3a9eace9aac 100644
--- a/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp
+++ b/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp
@@ -110,8 +110,8 @@ class PredictedPathCheckerNode : public rclcpp::Node
   PredictedObjects::ConstSharedPtr object_ptr_{nullptr};
   autoware_planning_msgs::msg::Trajectory::ConstSharedPtr reference_trajectory_;
   autoware_planning_msgs::msg::Trajectory::ConstSharedPtr predicted_trajectory_;
-  autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr
-    is_stopped_ptr_{nullptr};
+  autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr is_stopped_ptr_{
+    nullptr};
 
   // Core
   std::unique_ptr<CollisionChecker> collision_checker_;
@@ -130,8 +130,7 @@ class PredictedPathCheckerNode : public rclcpp::Node
   void onOdom(const nav_msgs::msg::Odometry::SharedPtr msg);
   void onAccel(const geometry_msgs::msg::AccelWithCovarianceStamped::SharedPtr msg);
   void onIsStopped(
-    const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr
-      msg);
+    const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr msg);
 
   // Timer
   rclcpp::TimerBase::SharedPtr timer_;
diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
index a84f84ed8edc0..4ebde9cc0fc72 100644
--- a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
+++ b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
@@ -132,8 +132,7 @@ void PredictedPathCheckerNode::onAccel(
 }
 
 void PredictedPathCheckerNode::onIsStopped(
-  const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr
-    msg)
+  const autoware::component_interface_specs::control::IsStopped::Message::ConstSharedPtr msg)
 {
   is_stopped_ptr_ = msg;
 
@@ -416,8 +415,8 @@ void PredictedPathCheckerNode::checkVehicleState(diagnostic_updater::DiagnosticS
 void PredictedPathCheckerNode::sendRequest(bool make_stop_vehicle)
 {
   if (!is_calling_set_stop_ && cli_set_stop_->service_is_ready()) {
-    const auto req = std::make_shared<
-      autoware::component_interface_specs::control::SetStop::Service::Request>();
+    const auto req =
+      std::make_shared<autoware::component_interface_specs::control::SetStop::Service::Request>();
     req->stop = make_stop_vehicle;
     req->request_source = "predicted_path_checker";
     is_calling_set_stop_ = true;
diff --git a/system/autoware_default_adapi/src/motion.cpp b/system/autoware_default_adapi/src/motion.cpp
index 32cb1f835bf96..2073b1dad9f77 100644
--- a/system/autoware_default_adapi/src/motion.cpp
+++ b/system/autoware_default_adapi/src/motion.cpp
@@ -121,8 +121,8 @@ void MotionNode::update_pause(const State state)
 void MotionNode::change_pause(bool pause)
 {
   if (!is_calling_set_pause_ && cli_set_pause_->service_is_ready()) {
-    const auto req = std::make_shared<
-      autoware::component_interface_specs::control::SetPause::Service::Request>();
+    const auto req =
+      std::make_shared<autoware::component_interface_specs::control::SetPause::Service::Request>();
     req->pause = pause;
     is_calling_set_pause_ = true;
     cli_set_pause_->async_send_request(req, [this](auto) { is_calling_set_pause_ = false; });
@@ -135,16 +135,14 @@ void MotionNode::on_timer()
 }
 
 void MotionNode::on_is_paused(
-  const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr
-    msg)
+  const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr msg)
 {
   is_paused_ = msg->data;
   update_state();
 }
 
 void MotionNode::on_is_start_requested(
-  const autoware::component_interface_specs::control::IsStartRequested::Message::
-    ConstSharedPtr msg)
+  const autoware::component_interface_specs::control::IsStartRequested::Message::ConstSharedPtr msg)
 {
   is_start_requested_ = msg->data;
   update_state();
diff --git a/system/autoware_default_adapi/src/motion.hpp b/system/autoware_default_adapi/src/motion.hpp
index 510353fe8da92..3854753a39cc7 100644
--- a/system/autoware_default_adapi/src/motion.hpp
+++ b/system/autoware_default_adapi/src/motion.hpp
@@ -41,8 +41,7 @@ class MotionNode : public rclcpp::Node
   Pub<autoware_ad_api::motion::State> pub_state_;
   Cli<autoware::component_interface_specs::control::SetPause> cli_set_pause_;
   Sub<autoware::component_interface_specs::control::IsPaused> sub_is_paused_;
-  Sub<autoware::component_interface_specs::control::IsStartRequested>
-    sub_is_start_requested_;
+  Sub<autoware::component_interface_specs::control::IsStartRequested> sub_is_start_requested_;
 
   enum class State { Unknown, Pausing, Paused, Starting, Resuming, Resumed, Moving };
   State state_;
@@ -59,10 +58,10 @@ class MotionNode : public rclcpp::Node
   void change_pause(bool pause);
   void on_timer();
   void on_is_paused(
-    const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr
+    const autoware::component_interface_specs::control::IsPaused::Message::ConstSharedPtr msg);
+  void on_is_start_requested(
+    const autoware::component_interface_specs::control::IsStartRequested::Message::ConstSharedPtr
       msg);
-  void on_is_start_requested(const autoware::component_interface_specs::control::
-                               IsStartRequested::Message::ConstSharedPtr msg);
   void on_accept(
     const autoware_ad_api::motion::AcceptStart::Service::Request::SharedPtr req,
     const autoware_ad_api::motion::AcceptStart::Service::Response::SharedPtr res);
diff --git a/system/autoware_default_adapi/src/perception.cpp b/system/autoware_default_adapi/src/perception.cpp
index 6432746827f20..2b4eaae0e2afb 100644
--- a/system/autoware_default_adapi/src/perception.cpp
+++ b/system/autoware_default_adapi/src/perception.cpp
@@ -50,8 +50,8 @@ uint8_t PerceptionNode::mapping(
 }
 
 void PerceptionNode::object_recognize(
-  const autoware::component_interface_specs::perception::ObjectRecognition::Message::
-    ConstSharedPtr msg)
+  const autoware::component_interface_specs::perception::ObjectRecognition::Message::ConstSharedPtr
+    msg)
 {
   DynamicObjectArray::Message objects;
   objects.header = msg->header;
diff --git a/system/autoware_default_adapi/src/perception.hpp b/system/autoware_default_adapi/src/perception.hpp
index 2685990082bf9..af551d874663b 100644
--- a/system/autoware_default_adapi/src/perception.hpp
+++ b/system/autoware_default_adapi/src/perception.hpp
@@ -41,10 +41,9 @@ class PerceptionNode : public rclcpp::Node
 
 private:
   Pub<autoware_ad_api::perception::DynamicObjectArray> pub_object_recognized_;
-  Sub<autoware::component_interface_specs::perception::ObjectRecognition>
-    sub_object_recognized_;
-  void object_recognize(const autoware::component_interface_specs::perception::
-                          ObjectRecognition::Message::ConstSharedPtr msg);
+  Sub<autoware::component_interface_specs::perception::ObjectRecognition> sub_object_recognized_;
+  void object_recognize(const autoware::component_interface_specs::perception::ObjectRecognition::
+                          Message::ConstSharedPtr msg);
   uint8_t mapping(
     std::unordered_map<uint8_t, uint8_t> hash_map, uint8_t input, uint8_t default_value);
 };
diff --git a/system/autoware_default_adapi/src/planning.hpp b/system/autoware_default_adapi/src/planning.hpp
index a4e4b0fe0b408..50e044bec018c 100644
--- a/system/autoware_default_adapi/src/planning.hpp
+++ b/system/autoware_default_adapi/src/planning.hpp
@@ -41,8 +41,7 @@ class PlanningNode : public rclcpp::Node
   Pub<autoware_ad_api::planning::VelocityFactors> pub_velocity_factors_;
   Pub<autoware_ad_api::planning::SteeringFactors> pub_steering_factors_;
   Sub<autoware::component_interface_specs::planning::Trajectory> sub_trajectory_;
-  Sub<autoware::component_interface_specs::localization::KinematicState>
-    sub_kinematic_state_;
+  Sub<autoware::component_interface_specs::localization::KinematicState> sub_kinematic_state_;
   std::vector<rclcpp::Subscription<VelocityFactorArray>::SharedPtr> sub_velocity_factors_;
   std::vector<rclcpp::Subscription<SteeringFactorArray>::SharedPtr> sub_steering_factors_;
   std::vector<VelocityFactorArray::ConstSharedPtr> velocity_factors_;
@@ -51,8 +50,7 @@ class PlanningNode : public rclcpp::Node
 
   using VehicleStopChecker = autoware::motion_utils::VehicleStopCheckerBase;
   using Trajectory = autoware::component_interface_specs::planning::Trajectory::Message;
-  using KinematicState =
-    autoware::component_interface_specs::localization::KinematicState::Message;
+  using KinematicState = autoware::component_interface_specs::localization::KinematicState::Message;
   void on_trajectory(const Trajectory::ConstSharedPtr msg);
   void on_kinematic_state(const KinematicState::ConstSharedPtr msg);
   void on_timer();
diff --git a/system/autoware_default_adapi/src/routing.hpp b/system/autoware_default_adapi/src/routing.hpp
index 9de3f312e5b39..b78237697dcf0 100644
--- a/system/autoware_default_adapi/src/routing.hpp
+++ b/system/autoware_default_adapi/src/routing.hpp
@@ -33,8 +33,7 @@ class RoutingNode : public rclcpp::Node
   explicit RoutingNode(const rclcpp::NodeOptions & options);
 
 private:
-  using OperationModeState =
-    autoware::component_interface_specs::system::OperationModeState;
+  using OperationModeState = autoware::component_interface_specs::system::OperationModeState;
   using State = autoware::component_interface_specs::planning::RouteState;
   using Route = autoware::component_interface_specs::planning::LaneletRoute;
 
@@ -48,15 +47,11 @@ class RoutingNode : public rclcpp::Node
   Srv<autoware_ad_api::routing::ClearRoute> srv_clear_route_;
   Sub<autoware::component_interface_specs::planning::RouteState> sub_state_;
   Sub<autoware::component_interface_specs::planning::LaneletRoute> sub_route_;
-  Cli<autoware::component_interface_specs::planning::SetWaypointRoute>
-    cli_set_waypoint_route_;
-  Cli<autoware::component_interface_specs::planning::SetLaneletRoute>
-    cli_set_lanelet_route_;
+  Cli<autoware::component_interface_specs::planning::SetWaypointRoute> cli_set_waypoint_route_;
+  Cli<autoware::component_interface_specs::planning::SetLaneletRoute> cli_set_lanelet_route_;
   Cli<autoware::component_interface_specs::planning::ClearRoute> cli_clear_route_;
-  Cli<autoware::component_interface_specs::system::ChangeOperationMode>
-    cli_operation_mode_;
-  Sub<autoware::component_interface_specs::system::OperationModeState>
-    sub_operation_mode_;
+  Cli<autoware::component_interface_specs::system::ChangeOperationMode> cli_operation_mode_;
+  Sub<autoware::component_interface_specs::system::OperationModeState> sub_operation_mode_;
   bool is_auto_mode_;
   State::Message state_;
 
diff --git a/system/autoware_default_adapi/src/vehicle.cpp b/system/autoware_default_adapi/src/vehicle.cpp
index bc0a7b9cf8110..a38bf9cb9a9b3 100644
--- a/system/autoware_default_adapi/src/vehicle.cpp
+++ b/system/autoware_default_adapi/src/vehicle.cpp
@@ -29,11 +29,9 @@ using ApiGear = autoware_adapi_v1_msgs::msg::Gear;
 using TurnIndicatorsReport =
   autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message;
 using ApiTurnIndicator = autoware_adapi_v1_msgs::msg::TurnIndicators;
-using HazardLightsReport =
-  autoware::component_interface_specs::vehicle::HazardLightStatus::Message;
+using HazardLightsReport = autoware::component_interface_specs::vehicle::HazardLightStatus::Message;
 using ApiHazardLight = autoware_adapi_v1_msgs::msg::HazardLights;
-using MapProjectorInfo =
-  autoware::component_interface_specs::map::MapProjectorInfo::Message;
+using MapProjectorInfo = autoware::component_interface_specs::map::MapProjectorInfo::Message;
 
 std::unordered_map<uint8_t, uint8_t> gear_type_ = {
   {GearReport::NONE, ApiGear::UNKNOWN},    {GearReport::NEUTRAL, ApiGear::NEUTRAL},
@@ -92,21 +90,22 @@ uint8_t VehicleNode::mapping(
 }
 
 void VehicleNode::kinematic_state(
-  const autoware::component_interface_specs::localization::KinematicState::Message::
-    ConstSharedPtr msg_ptr)
+  const autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr
+    msg_ptr)
 {
   kinematic_state_msgs_ = msg_ptr;
 }
 
 void VehicleNode::acceleration_status(
-  const autoware::component_interface_specs::localization::Acceleration::Message::
-    ConstSharedPtr msg_ptr)
+  const autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr
+    msg_ptr)
 {
   acceleration_msgs_ = msg_ptr;
 }
 
-void VehicleNode::steering_status(const autoware::component_interface_specs::vehicle::
-                                    SteeringStatus::Message::ConstSharedPtr msg_ptr)
+void VehicleNode::steering_status(
+  const autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr
+    msg_ptr)
 {
   steering_status_msgs_ = msg_ptr;
 }
@@ -126,8 +125,8 @@ void VehicleNode::hazard_light_status(const HazardLightsReport::ConstSharedPtr m
   hazard_light_status_msgs_ = msg_ptr;
 }
 
-void VehicleNode::energy_status(const autoware::component_interface_specs::vehicle::
-                                  EnergyStatus::Message::ConstSharedPtr msg_ptr)
+void VehicleNode::energy_status(
+  const autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr msg_ptr)
 {
   energy_status_msgs_ = msg_ptr;
 }
diff --git a/system/autoware_default_adapi/src/vehicle.hpp b/system/autoware_default_adapi/src/vehicle.hpp
index 873d53a142394..ad03aac9116ea 100644
--- a/system/autoware_default_adapi/src/vehicle.hpp
+++ b/system/autoware_default_adapi/src/vehicle.hpp
@@ -42,28 +42,26 @@ class VehicleNode : public rclcpp::Node
   rclcpp::CallbackGroup::SharedPtr group_cli_;
   Pub<autoware_ad_api::vehicle::VehicleKinematics> pub_kinematics_;
   Pub<autoware_ad_api::vehicle::VehicleStatus> pub_status_;
-  Sub<autoware::component_interface_specs::localization::KinematicState>
-    sub_kinematic_state_;
+  Sub<autoware::component_interface_specs::localization::KinematicState> sub_kinematic_state_;
   Sub<autoware::component_interface_specs::localization::Acceleration> sub_acceleration_;
   Sub<autoware::component_interface_specs::vehicle::SteeringStatus> sub_steering_;
   Sub<autoware::component_interface_specs::vehicle::GearStatus> sub_gear_state_;
-  Sub<autoware::component_interface_specs::vehicle::TurnIndicatorStatus>
-    sub_turn_indicator_;
+  Sub<autoware::component_interface_specs::vehicle::TurnIndicatorStatus> sub_turn_indicator_;
   Sub<autoware::component_interface_specs::vehicle::HazardLightStatus> sub_hazard_light_;
   Sub<autoware::component_interface_specs::vehicle::EnergyStatus> sub_energy_level_;
   Sub<autoware::component_interface_specs::map::MapProjectorInfo> sub_map_projector_info_;
   rclcpp::TimerBase::SharedPtr timer_;
 
-  autoware::component_interface_specs::localization::KinematicState::Message::
-    ConstSharedPtr kinematic_state_msgs_;
+  autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr
+    kinematic_state_msgs_;
   autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr
     acceleration_msgs_;
   autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr
     steering_status_msgs_;
   autoware::component_interface_specs::vehicle::GearStatus::Message::ConstSharedPtr
     gear_status_msgs_;
-  autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message::
-    ConstSharedPtr turn_indicator_status_msgs_;
+  autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message::ConstSharedPtr
+    turn_indicator_status_msgs_;
   autoware::component_interface_specs::vehicle::HazardLightStatus::Message::ConstSharedPtr
     hazard_light_status_msgs_;
   autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr
@@ -71,22 +69,30 @@ class VehicleNode : public rclcpp::Node
   autoware::component_interface_specs::map::MapProjectorInfo::Message::ConstSharedPtr
     map_projector_info_;
 
-  void kinematic_state(const autoware::component_interface_specs::localization::
-                         KinematicState::Message::ConstSharedPtr msg_ptr);
-  void acceleration_status(const autoware::component_interface_specs::localization::
-                             Acceleration::Message::ConstSharedPtr msg_ptr);
-  void steering_status(const autoware::component_interface_specs::vehicle::
-                         SteeringStatus::Message::ConstSharedPtr msg_ptr);
-  void gear_status(const autoware::component_interface_specs::vehicle::GearStatus::
-                     Message::ConstSharedPtr msg_ptr);
-  void turn_indicator_status(const autoware::component_interface_specs::vehicle::
-                               TurnIndicatorStatus::Message::ConstSharedPtr msg_ptr);
-  void map_projector_info(const autoware::component_interface_specs::map::
-                            MapProjectorInfo::Message::ConstSharedPtr msg_ptr);
-  void hazard_light_status(const autoware::component_interface_specs::vehicle::
-                             HazardLightStatus::Message::ConstSharedPtr msg_ptr);
-  void energy_status(const autoware::component_interface_specs::vehicle::EnergyStatus::
-                       Message::ConstSharedPtr msg_ptr);
+  void kinematic_state(
+    const autoware::component_interface_specs::localization::KinematicState::Message::ConstSharedPtr
+      msg_ptr);
+  void acceleration_status(
+    const autoware::component_interface_specs::localization::Acceleration::Message::ConstSharedPtr
+      msg_ptr);
+  void steering_status(
+    const autoware::component_interface_specs::vehicle::SteeringStatus::Message::ConstSharedPtr
+      msg_ptr);
+  void gear_status(
+    const autoware::component_interface_specs::vehicle::GearStatus::Message::ConstSharedPtr
+      msg_ptr);
+  void turn_indicator_status(
+    const autoware::component_interface_specs::vehicle::TurnIndicatorStatus::Message::ConstSharedPtr
+      msg_ptr);
+  void map_projector_info(
+    const autoware::component_interface_specs::map::MapProjectorInfo::Message::ConstSharedPtr
+      msg_ptr);
+  void hazard_light_status(
+    const autoware::component_interface_specs::vehicle::HazardLightStatus::Message::ConstSharedPtr
+      msg_ptr);
+  void energy_status(
+    const autoware::component_interface_specs::vehicle::EnergyStatus::Message::ConstSharedPtr
+      msg_ptr);
   uint8_t mapping(
     std::unordered_map<uint8_t, uint8_t> hash_map, uint8_t input, uint8_t default_value);
   void publish_kinematics();
diff --git a/system/autoware_default_adapi/src/vehicle_door.cpp b/system/autoware_default_adapi/src/vehicle_door.cpp
index 8c0c63c972de4..259ef907097de 100644
--- a/system/autoware_default_adapi/src/vehicle_door.cpp
+++ b/system/autoware_default_adapi/src/vehicle_door.cpp
@@ -35,8 +35,7 @@ void VehicleDoorNode::on_status(
 {
   utils::notify(
     pub_status_, status_, *msg,
-    utils::ignore_stamp<
-      autoware::component_interface_specs::vehicle::DoorStatus::Message>);
+    utils::ignore_stamp<autoware::component_interface_specs::vehicle::DoorStatus::Message>);
 }
 
 }  // namespace autoware::default_adapi
diff --git a/system/autoware_default_adapi/src/vehicle_door.hpp b/system/autoware_default_adapi/src/vehicle_door.hpp
index 404a65f7ad95f..9b04b08adb438 100644
--- a/system/autoware_default_adapi/src/vehicle_door.hpp
+++ b/system/autoware_default_adapi/src/vehicle_door.hpp
@@ -34,8 +34,7 @@ class VehicleDoorNode : public rclcpp::Node
 
 private:
   void on_status(
-    autoware::component_interface_specs::vehicle::DoorStatus::Message::ConstSharedPtr
-      msg);
+    autoware::component_interface_specs::vehicle::DoorStatus::Message::ConstSharedPtr msg);
   rclcpp::CallbackGroup::SharedPtr group_cli_;
   Srv<autoware_ad_api::vehicle::DoorCommand> srv_command_;
   Srv<autoware_ad_api::vehicle::DoorLayout> srv_layout_;
@@ -43,8 +42,7 @@ class VehicleDoorNode : public rclcpp::Node
   Cli<autoware::component_interface_specs::vehicle::DoorCommand> cli_command_;
   Cli<autoware::component_interface_specs::vehicle::DoorLayout> cli_layout_;
   Sub<autoware::component_interface_specs::vehicle::DoorStatus> sub_status_;
-  std::optional<autoware::component_interface_specs::vehicle::DoorStatus::Message>
-    status_;
+  std::optional<autoware::component_interface_specs::vehicle::DoorStatus::Message> status_;
 };
 
 }  // namespace autoware::default_adapi