diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index c9182ecde365d..e8c080d3b16d5 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -1,5 +1,5 @@
 ### Automatically generated from package.xml ###
-common/autoware_ad_api_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp
+common/autoware_adapi_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp
 common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 common/autoware_component_interface_specs/** isamu.takagi@tier4.jp yukihiro.saito@tier4.jp
 common/autoware_component_interface_tools/** isamu.takagi@tier4.jp
diff --git a/common/.pages b/common/.pages
index 60453f2294f27..e0425488ad59b 100644
--- a/common/.pages
+++ b/common/.pages
@@ -49,7 +49,7 @@ nav:
     - 'Goal Distance Calculator': common/goal_distance_calculator/Readme
     - 'Path Distance Calculator': common/autoware_path_distance_calculator/Readme
   - 'Others':
-    - 'autoware_ad_api_specs': common/autoware_ad_api_specs
+    - 'autoware_adapi_specs': common/autoware_adapi_specs
     - 'component_interface_specs': common/component_interface_specs
     - 'component_interface_tools': common/component_interface_tools
     - 'component_interface_utils': common/component_interface_utils
diff --git a/common/autoware_ad_api_specs/CHANGELOG.rst b/common/autoware_adapi_specs/CHANGELOG.rst
similarity index 100%
rename from common/autoware_ad_api_specs/CHANGELOG.rst
rename to common/autoware_adapi_specs/CHANGELOG.rst
diff --git a/common/autoware_ad_api_specs/CMakeLists.txt b/common/autoware_adapi_specs/CMakeLists.txt
similarity index 79%
rename from common/autoware_ad_api_specs/CMakeLists.txt
rename to common/autoware_adapi_specs/CMakeLists.txt
index 5f02e45a9c6b2..62eced4c76c93 100644
--- a/common/autoware_ad_api_specs/CMakeLists.txt
+++ b/common/autoware_adapi_specs/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(autoware_ad_api_specs)
+project(autoware_adapi_specs)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
diff --git a/common/autoware_ad_api_specs/README.md b/common/autoware_adapi_specs/README.md
similarity index 100%
rename from common/autoware_ad_api_specs/README.md
rename to common/autoware_adapi_specs/README.md
diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/fail_safe.hpp
similarity index 81%
rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp
rename to common/autoware_adapi_specs/include/autoware/adapi_specs/fail_safe.hpp
index 9b46feba47f11..d9366e567ed90 100644
--- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/fail_safe.hpp
+++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/fail_safe.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_
-#define AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_
+#ifndef AUTOWARE__ADAPI_SPECS__FAIL_SAFE_HPP_
+#define AUTOWARE__ADAPI_SPECS__FAIL_SAFE_HPP_
 
 #include <rclcpp/qos.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 
-namespace autoware_ad_api::fail_safe
+namespace autoware::adapi_specs::fail_safe
 {
 
 struct MrmState
@@ -31,6 +31,6 @@ struct MrmState
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace autoware_ad_api::fail_safe
+}  // namespace autoware::adapi_specs::fail_safe
 
-#endif  // AUTOWARE_AD_API_SPECS__FAIL_SAFE_HPP_
+#endif  // AUTOWARE__ADAPI_SPECS__FAIL_SAFE_HPP_
diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/interface.hpp
similarity index 77%
rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp
rename to common/autoware_adapi_specs/include/autoware/adapi_specs/interface.hpp
index 95dca9671e768..8c94569ab8063 100644
--- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/interface.hpp
+++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/interface.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_AD_API_SPECS__INTERFACE_HPP_
-#define AUTOWARE_AD_API_SPECS__INTERFACE_HPP_
+#ifndef AUTOWARE__ADAPI_SPECS__INTERFACE_HPP_
+#define AUTOWARE__ADAPI_SPECS__INTERFACE_HPP_
 
 #include <autoware_adapi_version_msgs/srv/interface_version.hpp>
 
-namespace autoware_ad_api::interface
+namespace autoware::adapi_specs::interface
 {
 
 struct Version
@@ -26,6 +26,6 @@ struct Version
   static constexpr char name[] = "/api/interface/version";
 };
 
-}  // namespace autoware_ad_api::interface
+}  // namespace autoware::adapi_specs::interface
 
-#endif  // AUTOWARE_AD_API_SPECS__INTERFACE_HPP_
+#endif  // AUTOWARE__ADAPI_SPECS__INTERFACE_HPP_
diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/localization.hpp
similarity index 84%
rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp
rename to common/autoware_adapi_specs/include/autoware/adapi_specs/localization.hpp
index 634713845868b..92198128c5d96 100644
--- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/localization.hpp
+++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/localization.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_
-#define AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_
+#ifndef AUTOWARE__ADAPI_SPECS__LOCALIZATION_HPP_
+#define AUTOWARE__ADAPI_SPECS__LOCALIZATION_HPP_
 
 #include <rclcpp/qos.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/localization_initialization_state.hpp>
 #include <autoware_adapi_v1_msgs/srv/initialize_localization.hpp>
 
-namespace autoware_ad_api::localization
+namespace autoware::adapi_specs::localization
 {
 
 struct Initialize
@@ -38,6 +38,6 @@ struct InitializationState
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace autoware_ad_api::localization
+}  // namespace autoware::adapi_specs::localization
 
-#endif  // AUTOWARE_AD_API_SPECS__LOCALIZATION_HPP_
+#endif  // AUTOWARE__ADAPI_SPECS__LOCALIZATION_HPP_
diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/motion.hpp
similarity index 84%
rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp
rename to common/autoware_adapi_specs/include/autoware/adapi_specs/motion.hpp
index 041baa9a67051..5e40b7c5bda3a 100644
--- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/motion.hpp
+++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/motion.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_AD_API_SPECS__MOTION_HPP_
-#define AUTOWARE_AD_API_SPECS__MOTION_HPP_
+#ifndef AUTOWARE__ADAPI_SPECS__MOTION_HPP_
+#define AUTOWARE__ADAPI_SPECS__MOTION_HPP_
 
 #include <rclcpp/qos.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/motion_state.hpp>
 #include <autoware_adapi_v1_msgs/srv/accept_start.hpp>
 
-namespace autoware_ad_api::motion
+namespace autoware::adapi_specs::motion
 {
 
 struct AcceptStart
@@ -38,6 +38,6 @@ struct State
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace autoware_ad_api::motion
+}  // namespace autoware::adapi_specs::motion
 
-#endif  // AUTOWARE_AD_API_SPECS__MOTION_HPP_
+#endif  // AUTOWARE__ADAPI_SPECS__MOTION_HPP_
diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/operation_mode.hpp
similarity index 89%
rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp
rename to common/autoware_adapi_specs/include/autoware/adapi_specs/operation_mode.hpp
index f52b66cc88d2a..81f63ef63b5e0 100644
--- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/operation_mode.hpp
+++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/operation_mode.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_
-#define AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_
+#ifndef AUTOWARE__ADAPI_SPECS__OPERATION_MODE_HPP_
+#define AUTOWARE__ADAPI_SPECS__OPERATION_MODE_HPP_
 
 #include <rclcpp/qos.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_adapi_v1_msgs/srv/change_operation_mode.hpp>
 
-namespace autoware_ad_api::operation_mode
+namespace autoware::adapi_specs::operation_mode
 {
 
 struct ChangeToStop
@@ -68,6 +68,6 @@ struct OperationModeState
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace autoware_ad_api::operation_mode
+}  // namespace autoware::adapi_specs::operation_mode
 
-#endif  // AUTOWARE_AD_API_SPECS__OPERATION_MODE_HPP_
+#endif  // AUTOWARE__ADAPI_SPECS__OPERATION_MODE_HPP_
diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/perception.hpp
similarity index 81%
rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp
rename to common/autoware_adapi_specs/include/autoware/adapi_specs/perception.hpp
index 5711c9a86d12a..80f876cdd588f 100644
--- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/perception.hpp
+++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/perception.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_
-#define AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_
+#ifndef AUTOWARE__ADAPI_SPECS__PERCEPTION_HPP_
+#define AUTOWARE__ADAPI_SPECS__PERCEPTION_HPP_
 
 #include <rclcpp/qos.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/dynamic_object_array.hpp>
 
-namespace autoware_ad_api::perception
+namespace autoware::adapi_specs::perception
 {
 
 struct DynamicObjectArray
@@ -31,6 +31,6 @@ struct DynamicObjectArray
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace autoware_ad_api::perception
+}  // namespace autoware::adapi_specs::perception
 
-#endif  // AUTOWARE_AD_API_SPECS__PERCEPTION_HPP_
+#endif  // AUTOWARE__ADAPI_SPECS__PERCEPTION_HPP_
diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/planning.hpp
similarity index 86%
rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp
rename to common/autoware_adapi_specs/include/autoware/adapi_specs/planning.hpp
index 4d4530dc38b75..246cd92d94385 100644
--- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/planning.hpp
+++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/planning.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_AD_API_SPECS__PLANNING_HPP_
-#define AUTOWARE_AD_API_SPECS__PLANNING_HPP_
+#ifndef AUTOWARE__ADAPI_SPECS__PLANNING_HPP_
+#define AUTOWARE__ADAPI_SPECS__PLANNING_HPP_
 
 #include <rclcpp/qos.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/steering_factor_array.hpp>
 #include <autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp>
 
-namespace autoware_ad_api::planning
+namespace autoware::adapi_specs::planning
 {
 
 struct VelocityFactors
@@ -41,6 +41,6 @@ struct SteeringFactors
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace autoware_ad_api::planning
+}  // namespace autoware::adapi_specs::planning
 
-#endif  // AUTOWARE_AD_API_SPECS__PLANNING_HPP_
+#endif  // AUTOWARE__ADAPI_SPECS__PLANNING_HPP_
diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/routing.hpp
similarity index 91%
rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp
rename to common/autoware_adapi_specs/include/autoware/adapi_specs/routing.hpp
index 1e119bc36e9b7..4988a82bb9ad2 100644
--- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/routing.hpp
+++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/routing.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_AD_API_SPECS__ROUTING_HPP_
-#define AUTOWARE_AD_API_SPECS__ROUTING_HPP_
+#ifndef AUTOWARE__ADAPI_SPECS__ROUTING_HPP_
+#define AUTOWARE__ADAPI_SPECS__ROUTING_HPP_
 
 #include <rclcpp/qos.hpp>
 
@@ -23,7 +23,7 @@
 #include <autoware_adapi_v1_msgs/srv/set_route.hpp>
 #include <autoware_adapi_v1_msgs/srv/set_route_points.hpp>
 
-namespace autoware_ad_api::routing
+namespace autoware::adapi_specs::routing
 {
 
 struct SetRoutePoints
@@ -74,6 +74,6 @@ struct Route
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace autoware_ad_api::routing
+}  // namespace autoware::adapi_specs::routing
 
-#endif  // AUTOWARE_AD_API_SPECS__ROUTING_HPP_
+#endif  // AUTOWARE__ADAPI_SPECS__ROUTING_HPP_
diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/system.hpp
similarity index 82%
rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp
rename to common/autoware_adapi_specs/include/autoware/adapi_specs/system.hpp
index 09144c1d8ff50..06e039174a3c5 100644
--- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp
+++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/system.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_AD_API_SPECS__SYSTEM_HPP_
-#define AUTOWARE_AD_API_SPECS__SYSTEM_HPP_
+#ifndef AUTOWARE__ADAPI_SPECS__SYSTEM_HPP_
+#define AUTOWARE__ADAPI_SPECS__SYSTEM_HPP_
 
 #include <rclcpp/qos.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/heartbeat.hpp>
 
-namespace autoware_ad_api::system
+namespace autoware::adapi_specs::system
 {
 
 struct Heartbeat
@@ -31,6 +31,6 @@ struct Heartbeat
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 
-}  // namespace autoware_ad_api::system
+}  // namespace autoware::adapi_specs::system
 
-#endif  // AUTOWARE_AD_API_SPECS__SYSTEM_HPP_
+#endif  // AUTOWARE__ADAPI_SPECS__SYSTEM_HPP_
diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/vehicle.hpp
similarity index 91%
rename from common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp
rename to common/autoware_adapi_specs/include/autoware/adapi_specs/vehicle.hpp
index e1220bf2c5879..a7568d54b5e1a 100644
--- a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/vehicle.hpp
+++ b/common/autoware_adapi_specs/include/autoware/adapi_specs/vehicle.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_AD_API_SPECS__VEHICLE_HPP_
-#define AUTOWARE_AD_API_SPECS__VEHICLE_HPP_
+#ifndef AUTOWARE__ADAPI_SPECS__VEHICLE_HPP_
+#define AUTOWARE__ADAPI_SPECS__VEHICLE_HPP_
 
 #include <rclcpp/qos.hpp>
 
@@ -24,7 +24,7 @@
 #include <autoware_adapi_v1_msgs/srv/get_vehicle_dimensions.hpp>
 #include <autoware_adapi_v1_msgs/srv/set_door_command.hpp>
 
-namespace autoware_ad_api::vehicle
+namespace autoware::adapi_specs::vehicle
 {
 
 struct VehicleKinematics
@@ -72,6 +72,6 @@ struct DoorStatus
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
 };
 
-}  // namespace autoware_ad_api::vehicle
+}  // namespace autoware::adapi_specs::vehicle
 
-#endif  // AUTOWARE_AD_API_SPECS__VEHICLE_HPP_
+#endif  // AUTOWARE__ADAPI_SPECS__VEHICLE_HPP_
diff --git a/common/autoware_ad_api_specs/package.xml b/common/autoware_adapi_specs/package.xml
similarity index 86%
rename from common/autoware_ad_api_specs/package.xml
rename to common/autoware_adapi_specs/package.xml
index 9e9972d94df24..a949084dd8789 100644
--- a/common/autoware_ad_api_specs/package.xml
+++ b/common/autoware_adapi_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>autoware_ad_api_specs</name>
+  <name>autoware_adapi_specs</name>
   <version>0.38.0</version>
-  <description>The autoware_ad_api_specs package</description>
+  <description>The autoware_adapi_specs package</description>
   <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
   <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
   <license>Apache License 2.0</license>
diff --git a/common/tier4_adapi_rviz_plugin/package.xml b/common/tier4_adapi_rviz_plugin/package.xml
index d7269377829dc..c31e19919ff22 100644
--- a/common/tier4_adapi_rviz_plugin/package.xml
+++ b/common/tier4_adapi_rviz_plugin/package.xml
@@ -12,7 +12,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_ad_api_specs</depend>
+  <depend>autoware_adapi_specs</depend>
   <depend>autoware_component_interface_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
diff --git a/common/tier4_adapi_rviz_plugin/src/door_panel.hpp b/common/tier4_adapi_rviz_plugin/src/door_panel.hpp
index fb7aa0e1b9545..3ace533eada50 100644
--- a/common/tier4_adapi_rviz_plugin/src/door_panel.hpp
+++ b/common/tier4_adapi_rviz_plugin/src/door_panel.hpp
@@ -18,8 +18,8 @@
 #include <QGridLayout>
 #include <QLabel>
 #include <QPushButton>
+#include <autoware/adapi_specs/vehicle.hpp>
 #include <autoware/component_interface_utils/rclcpp.hpp>
-#include <autoware_ad_api_specs/vehicle.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rviz_common/panel.hpp>
 
@@ -31,9 +31,9 @@ namespace tier4_adapi_rviz_plugins
 class DoorPanel : public rviz_common::Panel
 {
   Q_OBJECT
-  using DoorCommand = autoware_ad_api::vehicle::DoorCommand;
-  using DoorLayout = autoware_ad_api::vehicle::DoorLayout;
-  using DoorStatus = autoware_ad_api::vehicle::DoorStatus;
+  using DoorCommand = autoware::adapi_specs::vehicle::DoorCommand;
+  using DoorLayout = autoware::adapi_specs::vehicle::DoorLayout;
+  using DoorStatus = autoware::adapi_specs::vehicle::DoorStatus;
 
 public:
   explicit DoorPanel(QWidget * parent = nullptr);
diff --git a/common/tier4_adapi_rviz_plugin/src/route_panel.hpp b/common/tier4_adapi_rviz_plugin/src/route_panel.hpp
index d4e7bdf62ea3c..78fda2852d2c2 100644
--- a/common/tier4_adapi_rviz_plugin/src/route_panel.hpp
+++ b/common/tier4_adapi_rviz_plugin/src/route_panel.hpp
@@ -20,8 +20,8 @@
 #include <QGroupBox>
 #include <QLabel>
 #include <QPushButton>
+#include <autoware/adapi_specs/routing.hpp>
 #include <autoware/component_interface_utils/rclcpp.hpp>
-#include <autoware_ad_api_specs/routing.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rviz_common/panel.hpp>
 
@@ -35,9 +35,9 @@ namespace tier4_adapi_rviz_plugins
 class RoutePanel : public rviz_common::Panel
 {
   Q_OBJECT
-  using ClearRoute = autoware_ad_api::routing::ClearRoute;
-  using SetRoutePoints = autoware_ad_api::routing::SetRoutePoints;
-  using ChangeRoutePoints = autoware_ad_api::routing::ChangeRoutePoints;
+  using ClearRoute = autoware::adapi_specs::routing::ClearRoute;
+  using SetRoutePoints = autoware::adapi_specs::routing::SetRoutePoints;
+  using ChangeRoutePoints = autoware::adapi_specs::routing::ChangeRoutePoints;
   using PoseStamped = geometry_msgs::msg::PoseStamped;
 
 public:
diff --git a/common/tier4_camera_view_rviz_plugin/package.xml b/common/tier4_camera_view_rviz_plugin/package.xml
index d36c9eae781c6..7c85d9f84871a 100644
--- a/common/tier4_camera_view_rviz_plugin/package.xml
+++ b/common/tier4_camera_view_rviz_plugin/package.xml
@@ -11,7 +11,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_ad_api_specs</depend>
+  <depend>autoware_adapi_specs</depend>
   <depend>autoware_component_interface_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>libqt5-core</depend>
diff --git a/system/autoware_default_adapi/package.xml b/system/autoware_default_adapi/package.xml
index b4324ce05c511..f664f72234f9f 100644
--- a/system/autoware_default_adapi/package.xml
+++ b/system/autoware_default_adapi/package.xml
@@ -12,7 +12,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_ad_api_specs</depend>
+  <depend>autoware_adapi_specs</depend>
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_adapi_version_msgs</depend>
   <depend>autoware_component_interface_specs</depend>
diff --git a/system/autoware_default_adapi/src/compatibility/autoware_state.hpp b/system/autoware_default_adapi/src/compatibility/autoware_state.hpp
index d4707ea55fd87..c292f2f62364c 100644
--- a/system/autoware_default_adapi/src/compatibility/autoware_state.hpp
+++ b/system/autoware_default_adapi/src/compatibility/autoware_state.hpp
@@ -15,9 +15,9 @@
 #ifndef COMPATIBILITY__AUTOWARE_STATE_HPP_
 #define COMPATIBILITY__AUTOWARE_STATE_HPP_
 
-#include <autoware_ad_api_specs/localization.hpp>
-#include <autoware_ad_api_specs/operation_mode.hpp>
-#include <autoware_ad_api_specs/routing.hpp>
+#include <autoware/adapi_specs/localization.hpp>
+#include <autoware/adapi_specs/operation_mode.hpp>
+#include <autoware/adapi_specs/routing.hpp>
 
 #include <autoware_system_msgs/msg/autoware_state.hpp>
 #include <std_srvs/srv/trigger.hpp>
@@ -40,14 +40,14 @@ class AutowareStateNode : public rclcpp::Node
   using ModeChangeAvailable = tier4_system_msgs::msg::ModeChangeAvailable;
   rclcpp::TimerBase::SharedPtr timer_;
   // emergency
-  Sub<autoware_ad_api::localization::InitializationState> sub_localization_;
-  Sub<autoware_ad_api::routing::RouteState> sub_routing_;
-  Sub<autoware_ad_api::operation_mode::OperationModeState> sub_operation_mode_;
+  Sub<autoware::adapi_specs::localization::InitializationState> sub_localization_;
+  Sub<autoware::adapi_specs::routing::RouteState> sub_routing_;
+  Sub<autoware::adapi_specs::operation_mode::OperationModeState> sub_operation_mode_;
 
   using AutowareState = autoware_system_msgs::msg::AutowareState;
-  using LocalizationState = autoware_ad_api::localization::InitializationState::Message;
-  using RoutingState = autoware_ad_api::routing::RouteState::Message;
-  using OperationModeState = autoware_ad_api::operation_mode::OperationModeState::Message;
+  using LocalizationState = autoware::adapi_specs::localization::InitializationState::Message;
+  using RoutingState = autoware::adapi_specs::routing::RouteState::Message;
+  using OperationModeState = autoware::adapi_specs::operation_mode::OperationModeState::Message;
   using Trigger = std_srvs::srv::Trigger;
   std::vector<bool> component_states_;
   std::vector<rclcpp::Subscription<ModeChangeAvailable>::SharedPtr> sub_component_states_;
diff --git a/system/autoware_default_adapi/src/fail_safe.hpp b/system/autoware_default_adapi/src/fail_safe.hpp
index 16cf340ec7a20..c5ee08643e802 100644
--- a/system/autoware_default_adapi/src/fail_safe.hpp
+++ b/system/autoware_default_adapi/src/fail_safe.hpp
@@ -15,9 +15,9 @@
 #ifndef FAIL_SAFE_HPP_
 #define FAIL_SAFE_HPP_
 
+#include <autoware/adapi_specs/fail_safe.hpp>
 #include <autoware/component_interface_specs/system.hpp>
 #include <autoware/component_interface_utils/rclcpp.hpp>
-#include <autoware_ad_api_specs/fail_safe.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 // This file should be included after messages.
@@ -32,8 +32,8 @@ class FailSafeNode : public rclcpp::Node
   explicit FailSafeNode(const rclcpp::NodeOptions & options);
 
 private:
-  using MrmState = autoware_ad_api::fail_safe::MrmState::Message;
-  Pub<autoware_ad_api::fail_safe::MrmState> pub_mrm_state_;
+  using MrmState = autoware::adapi_specs::fail_safe::MrmState::Message;
+  Pub<autoware::adapi_specs::fail_safe::MrmState> pub_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/heartbeat.cpp b/system/autoware_default_adapi/src/heartbeat.cpp
index 2d6171b88151d..ab3df84904f28 100644
--- a/system/autoware_default_adapi/src/heartbeat.cpp
+++ b/system/autoware_default_adapi/src/heartbeat.cpp
@@ -23,7 +23,7 @@ HeartbeatNode::HeartbeatNode(const rclcpp::NodeOptions & options) : Node("heartb
 {
   // Move this function so that the timer no longer holds it as a reference.
   const auto on_timer = [this]() {
-    autoware_ad_api::system::Heartbeat::Message heartbeat;
+    autoware::adapi_specs::system::Heartbeat::Message heartbeat;
     heartbeat.stamp = now();
     heartbeat.seq = ++sequence_;  // Wraps at 65535.
     pub_->publish(heartbeat);
diff --git a/system/autoware_default_adapi/src/heartbeat.hpp b/system/autoware_default_adapi/src/heartbeat.hpp
index 8b1108d7b1bd3..4647686fe13d5 100644
--- a/system/autoware_default_adapi/src/heartbeat.hpp
+++ b/system/autoware_default_adapi/src/heartbeat.hpp
@@ -15,7 +15,7 @@
 #ifndef HEARTBEAT_HPP_
 #define HEARTBEAT_HPP_
 
-#include <autoware_ad_api_specs/system.hpp>
+#include <autoware/adapi_specs/system.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 // This file should be included after messages.
@@ -31,7 +31,7 @@ class HeartbeatNode : public rclcpp::Node
 
 private:
   rclcpp::TimerBase::SharedPtr timer_;
-  Pub<autoware_ad_api::system::Heartbeat> pub_;
+  Pub<autoware::adapi_specs::system::Heartbeat> pub_;
   uint16_t sequence_ = 0;
 };
 
diff --git a/system/autoware_default_adapi/src/interface.hpp b/system/autoware_default_adapi/src/interface.hpp
index ce0bdb04e2d2e..81ae7aaefc25d 100644
--- a/system/autoware_default_adapi/src/interface.hpp
+++ b/system/autoware_default_adapi/src/interface.hpp
@@ -15,7 +15,7 @@
 #ifndef INTERFACE_HPP_
 #define INTERFACE_HPP_
 
-#include <autoware_ad_api_specs/interface.hpp>
+#include <autoware/adapi_specs/interface.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 // This file should be included after messages.
@@ -30,7 +30,7 @@ class InterfaceNode : public rclcpp::Node
   explicit InterfaceNode(const rclcpp::NodeOptions & options);
 
 private:
-  Srv<autoware_ad_api::interface::Version> srv_;
+  Srv<autoware::adapi_specs::interface::Version> srv_;
 };
 
 }  // namespace autoware::default_adapi
diff --git a/system/autoware_default_adapi/src/localization.cpp b/system/autoware_default_adapi/src/localization.cpp
index 93977b36cd0a1..779c63224744d 100644
--- a/system/autoware_default_adapi/src/localization.cpp
+++ b/system/autoware_default_adapi/src/localization.cpp
@@ -30,8 +30,8 @@ LocalizationNode::LocalizationNode(const rclcpp::NodeOptions & options)
 }
 
 void LocalizationNode::on_initialize(
-  const autoware_ad_api::localization::Initialize::Service::Request::SharedPtr req,
-  const autoware_ad_api::localization::Initialize::Service::Response::SharedPtr res)
+  const autoware::adapi_specs::localization::Initialize::Service::Request::SharedPtr req,
+  const autoware::adapi_specs::localization::Initialize::Service::Response::SharedPtr res)
 {
   res->status = localization_conversion::convert_call(cli_initialize_, req);
 }
diff --git a/system/autoware_default_adapi/src/localization.hpp b/system/autoware_default_adapi/src/localization.hpp
index dbbc106621156..ef4ffd52a6718 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/adapi_specs/localization.hpp>
 #include <autoware/component_interface_specs/localization.hpp>
-#include <autoware_ad_api_specs/localization.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 // This file should be included after messages.
@@ -32,14 +32,14 @@ class LocalizationNode : public rclcpp::Node
 
 private:
   rclcpp::CallbackGroup::SharedPtr group_cli_;
-  Srv<autoware_ad_api::localization::Initialize> srv_initialize_;
-  Pub<autoware_ad_api::localization::InitializationState> pub_state_;
+  Srv<autoware::adapi_specs::localization::Initialize> srv_initialize_;
+  Pub<autoware::adapi_specs::localization::InitializationState> pub_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,
-    const autoware_ad_api::localization::Initialize::Service::Response::SharedPtr res);
+    const autoware::adapi_specs::localization::Initialize::Service::Request::SharedPtr req,
+    const autoware::adapi_specs::localization::Initialize::Service::Response::SharedPtr res);
 };
 
 }  // namespace autoware::default_adapi
diff --git a/system/autoware_default_adapi/src/motion.cpp b/system/autoware_default_adapi/src/motion.cpp
index b59ba8e52e403..dd7d842c3f26f 100644
--- a/system/autoware_default_adapi/src/motion.cpp
+++ b/system/autoware_default_adapi/src/motion.cpp
@@ -88,7 +88,7 @@ void MotionNode::update_state()
 
 void MotionNode::change_state(const State state)
 {
-  using MotionState = autoware_ad_api::motion::State::Message;
+  using MotionState = autoware::adapi_specs::motion::State::Message;
   static const auto mapping = std::unordered_map<State, MotionState::_state_type>(
     {{State::Unknown, MotionState::UNKNOWN},
      {State::Pausing, MotionState::STOPPED},
@@ -149,11 +149,11 @@ void MotionNode::on_is_start_requested(
 }
 
 void MotionNode::on_accept(
-  const autoware_ad_api::motion::AcceptStart::Service::Request::SharedPtr,
-  const autoware_ad_api::motion::AcceptStart::Service::Response::SharedPtr res)
+  const autoware::adapi_specs::motion::AcceptStart::Service::Request::SharedPtr,
+  const autoware::adapi_specs::motion::AcceptStart::Service::Response::SharedPtr res)
 {
   if (state_ != State::Starting) {
-    using AcceptStartResponse = autoware_ad_api::motion::AcceptStart::Service::Response;
+    using AcceptStartResponse = autoware::adapi_specs::motion::AcceptStart::Service::Response;
     throw autoware::component_interface_utils::ServiceException(
       AcceptStartResponse::ERROR_NOT_STARTING, "The motion state is not starting");
   }
diff --git a/system/autoware_default_adapi/src/motion.hpp b/system/autoware_default_adapi/src/motion.hpp
index cae7b310edc73..ce9cab6eb4bc7 100644
--- a/system/autoware_default_adapi/src/motion.hpp
+++ b/system/autoware_default_adapi/src/motion.hpp
@@ -15,11 +15,11 @@
 #ifndef MOTION_HPP_
 #define MOTION_HPP_
 
+#include <autoware/adapi_specs/motion.hpp>
 #include <autoware/component_interface_specs/control.hpp>
 #include <autoware/component_interface_utils/rclcpp.hpp>
 #include <autoware/component_interface_utils/status.hpp>
 #include <autoware/motion_utils/vehicle/vehicle_state_checker.hpp>
-#include <autoware_ad_api_specs/motion.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 // This file should be included after messages.
@@ -37,8 +37,8 @@ class MotionNode : public rclcpp::Node
   autoware::motion_utils::VehicleStopChecker vehicle_stop_checker_;
   rclcpp::TimerBase::SharedPtr timer_;
   rclcpp::CallbackGroup::SharedPtr group_cli_;
-  Srv<autoware_ad_api::motion::AcceptStart> srv_accept_;
-  Pub<autoware_ad_api::motion::State> pub_state_;
+  Srv<autoware::adapi_specs::motion::AcceptStart> srv_accept_;
+  Pub<autoware::adapi_specs::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_;
@@ -63,8 +63,8 @@ class MotionNode : public rclcpp::Node
     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);
+    const autoware::adapi_specs::motion::AcceptStart::Service::Request::SharedPtr req,
+    const autoware::adapi_specs::motion::AcceptStart::Service::Response::SharedPtr res);
 };
 
 }  // namespace autoware::default_adapi
diff --git a/system/autoware_default_adapi/src/operation_mode.hpp b/system/autoware_default_adapi/src/operation_mode.hpp
index ca5bb2ba72592..fdfe9ce237626 100644
--- a/system/autoware_default_adapi/src/operation_mode.hpp
+++ b/system/autoware_default_adapi/src/operation_mode.hpp
@@ -15,9 +15,9 @@
 #ifndef OPERATION_MODE_HPP_
 #define OPERATION_MODE_HPP_
 
+#include <autoware/adapi_specs/operation_mode.hpp>
 #include <autoware/component_interface_specs/system.hpp>
 #include <autoware/component_interface_utils/status.hpp>
-#include <autoware_ad_api_specs/operation_mode.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <string>
@@ -38,13 +38,13 @@ class OperationModeNode : public rclcpp::Node
   explicit OperationModeNode(const rclcpp::NodeOptions & options);
 
 private:
-  using OperationModeState = autoware_ad_api::operation_mode::OperationModeState;
-  using EnableAutowareControl = autoware_ad_api::operation_mode::EnableAutowareControl;
-  using DisableAutowareControl = autoware_ad_api::operation_mode::DisableAutowareControl;
-  using ChangeToStop = autoware_ad_api::operation_mode::ChangeToStop;
-  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 OperationModeState = autoware::adapi_specs::operation_mode::OperationModeState;
+  using EnableAutowareControl = autoware::adapi_specs::operation_mode::EnableAutowareControl;
+  using DisableAutowareControl = autoware::adapi_specs::operation_mode::DisableAutowareControl;
+  using ChangeToStop = autoware::adapi_specs::operation_mode::ChangeToStop;
+  using ChangeToAutonomous = autoware::adapi_specs::operation_mode::ChangeToAutonomous;
+  using ChangeToLocal = autoware::adapi_specs::operation_mode::ChangeToLocal;
+  using ChangeToRemote = autoware::adapi_specs::operation_mode::ChangeToRemote;
   using OperationModeRequest =
     autoware::component_interface_specs::system::ChangeOperationMode::Service::Request;
   using AutowareControlRequest =
@@ -57,13 +57,13 @@ class OperationModeNode : public rclcpp::Node
 
   rclcpp::CallbackGroup::SharedPtr group_cli_;
   rclcpp::TimerBase::SharedPtr timer_;
-  Pub<autoware_ad_api::operation_mode::OperationModeState> pub_state_;
-  Srv<autoware_ad_api::operation_mode::ChangeToStop> srv_stop_mode_;
-  Srv<autoware_ad_api::operation_mode::ChangeToAutonomous> srv_autonomous_mode_;
-  Srv<autoware_ad_api::operation_mode::ChangeToLocal> srv_local_mode_;
-  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_;
+  Pub<autoware::adapi_specs::operation_mode::OperationModeState> pub_state_;
+  Srv<autoware::adapi_specs::operation_mode::ChangeToStop> srv_stop_mode_;
+  Srv<autoware::adapi_specs::operation_mode::ChangeToAutonomous> srv_autonomous_mode_;
+  Srv<autoware::adapi_specs::operation_mode::ChangeToLocal> srv_local_mode_;
+  Srv<autoware::adapi_specs::operation_mode::ChangeToRemote> srv_remote_mode_;
+  Srv<autoware::adapi_specs::operation_mode::EnableAutowareControl> srv_enable_control_;
+  Srv<autoware::adapi_specs::operation_mode::DisableAutowareControl> srv_disable_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_;
diff --git a/system/autoware_default_adapi/src/perception.cpp b/system/autoware_default_adapi/src/perception.cpp
index ba324fd1cb85b..e764af4ca816a 100644
--- a/system/autoware_default_adapi/src/perception.cpp
+++ b/system/autoware_default_adapi/src/perception.cpp
@@ -19,7 +19,7 @@
 namespace autoware::default_adapi
 {
 
-using DynamicObjectArray = autoware_ad_api::perception::DynamicObjectArray;
+using DynamicObjectArray = autoware::adapi_specs::perception::DynamicObjectArray;
 using ObjectClassification = autoware_adapi_v1_msgs::msg::ObjectClassification;
 using DynamicObject = autoware_adapi_v1_msgs::msg::DynamicObject;
 using DynamicObjectPath = autoware_adapi_v1_msgs::msg::DynamicObjectPath;
diff --git a/system/autoware_default_adapi/src/perception.hpp b/system/autoware_default_adapi/src/perception.hpp
index af551d874663b..61fb2c4667f1d 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/adapi_specs/perception.hpp>
 #include <autoware/component_interface_specs/perception.hpp>
-#include <autoware_ad_api_specs/perception.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/dynamic_object.hpp>
@@ -40,7 +40,7 @@ class PerceptionNode : public rclcpp::Node
   explicit PerceptionNode(const rclcpp::NodeOptions & options);
 
 private:
-  Pub<autoware_ad_api::perception::DynamicObjectArray> pub_object_recognized_;
+  Pub<autoware::adapi_specs::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);
diff --git a/system/autoware_default_adapi/src/planning.hpp b/system/autoware_default_adapi/src/planning.hpp
index 50e044bec018c..3a9b99e33a997 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/adapi_specs/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 <rclcpp/rclcpp.hpp>
 
 #include <memory>
@@ -38,8 +38,8 @@ class PlanningNode : public rclcpp::Node
 private:
   using VelocityFactorArray = autoware_adapi_v1_msgs::msg::VelocityFactorArray;
   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_;
+  Pub<autoware::adapi_specs::planning::VelocityFactors> pub_velocity_factors_;
+  Pub<autoware::adapi_specs::planning::SteeringFactors> pub_steering_factors_;
   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_;
diff --git a/system/autoware_default_adapi/src/routing.cpp b/system/autoware_default_adapi/src/routing.cpp
index a7b8146bdd45e..4eaa98376b147 100644
--- a/system/autoware_default_adapi/src/routing.cpp
+++ b/system/autoware_default_adapi/src/routing.cpp
@@ -116,52 +116,52 @@ void RoutingNode::on_route(const Route::Message::ConstSharedPtr msg)
 }
 
 void RoutingNode::on_clear_route(
-  const autoware_ad_api::routing::ClearRoute::Service::Request::SharedPtr req,
-  const autoware_ad_api::routing::ClearRoute::Service::Response::SharedPtr res)
+  const autoware::adapi_specs::routing::ClearRoute::Service::Request::SharedPtr req,
+  const autoware::adapi_specs::routing::ClearRoute::Service::Response::SharedPtr res)
 {
   change_stop_mode();
   res->status = conversion::convert_call(cli_clear_route_, req);
 }
 
 void RoutingNode::on_set_route_points(
-  const autoware_ad_api::routing::SetRoutePoints::Service::Request::SharedPtr req,
-  const autoware_ad_api::routing::SetRoutePoints::Service::Response::SharedPtr res)
+  const autoware::adapi_specs::routing::SetRoutePoints::Service::Request::SharedPtr req,
+  const autoware::adapi_specs::routing::SetRoutePoints::Service::Response::SharedPtr res)
 {
   if (state_.state != State::Message::UNSET) {
-    res->status = route_already_set<autoware_ad_api::routing::SetRoutePoints>();
+    res->status = route_already_set<autoware::adapi_specs::routing::SetRoutePoints>();
     return;
   }
   res->status = conversion::convert_call(cli_set_waypoint_route_, req);
 }
 
 void RoutingNode::on_set_route(
-  const autoware_ad_api::routing::SetRoute::Service::Request::SharedPtr req,
-  const autoware_ad_api::routing::SetRoute::Service::Response::SharedPtr res)
+  const autoware::adapi_specs::routing::SetRoute::Service::Request::SharedPtr req,
+  const autoware::adapi_specs::routing::SetRoute::Service::Response::SharedPtr res)
 {
   if (state_.state != State::Message::UNSET) {
-    res->status = route_already_set<autoware_ad_api::routing::SetRoute>();
+    res->status = route_already_set<autoware::adapi_specs::routing::SetRoute>();
     return;
   }
   res->status = conversion::convert_call(cli_set_lanelet_route_, req);
 }
 
 void RoutingNode::on_change_route_points(
-  const autoware_ad_api::routing::SetRoutePoints::Service::Request::SharedPtr req,
-  const autoware_ad_api::routing::SetRoutePoints::Service::Response::SharedPtr res)
+  const autoware::adapi_specs::routing::SetRoutePoints::Service::Request::SharedPtr req,
+  const autoware::adapi_specs::routing::SetRoutePoints::Service::Response::SharedPtr res)
 {
   if (state_.state != State::Message::SET) {
-    res->status = route_is_not_set<autoware_ad_api::routing::SetRoutePoints>();
+    res->status = route_is_not_set<autoware::adapi_specs::routing::SetRoutePoints>();
     return;
   }
   res->status = conversion::convert_call(cli_set_waypoint_route_, req);
 }
 
 void RoutingNode::on_change_route(
-  const autoware_ad_api::routing::SetRoute::Service::Request::SharedPtr req,
-  const autoware_ad_api::routing::SetRoute::Service::Response::SharedPtr res)
+  const autoware::adapi_specs::routing::SetRoute::Service::Request::SharedPtr req,
+  const autoware::adapi_specs::routing::SetRoute::Service::Response::SharedPtr res)
 {
   if (state_.state != State::Message::SET) {
-    res->status = route_is_not_set<autoware_ad_api::routing::SetRoute>();
+    res->status = route_is_not_set<autoware::adapi_specs::routing::SetRoute>();
     return;
   }
   res->status = conversion::convert_call(cli_set_lanelet_route_, req);
diff --git a/system/autoware_default_adapi/src/routing.hpp b/system/autoware_default_adapi/src/routing.hpp
index 0f57f0358fc54..10eed606a5f6b 100644
--- a/system/autoware_default_adapi/src/routing.hpp
+++ b/system/autoware_default_adapi/src/routing.hpp
@@ -15,10 +15,10 @@
 #ifndef ROUTING_HPP_
 #define ROUTING_HPP_
 
+#include <autoware/adapi_specs/routing.hpp>
 #include <autoware/component_interface_specs/planning.hpp>
 #include <autoware/component_interface_specs/system.hpp>
 #include <autoware/component_interface_utils/status.hpp>
-#include <autoware_ad_api_specs/routing.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 // This file should be included after messages.
@@ -38,13 +38,13 @@ class RoutingNode : public rclcpp::Node
   using Route = autoware::component_interface_specs::planning::LaneletRoute;
 
   rclcpp::CallbackGroup::SharedPtr group_cli_;
-  Pub<autoware_ad_api::routing::RouteState> pub_state_;
-  Pub<autoware_ad_api::routing::Route> pub_route_;
-  Srv<autoware_ad_api::routing::SetRoutePoints> srv_set_route_points_;
-  Srv<autoware_ad_api::routing::SetRoute> srv_set_route_;
-  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_;
+  Pub<autoware::adapi_specs::routing::RouteState> pub_state_;
+  Pub<autoware::adapi_specs::routing::Route> pub_route_;
+  Srv<autoware::adapi_specs::routing::SetRoutePoints> srv_set_route_points_;
+  Srv<autoware::adapi_specs::routing::SetRoute> srv_set_route_;
+  Srv<autoware::adapi_specs::routing::ChangeRoutePoints> srv_change_route_points_;
+  Srv<autoware::adapi_specs::routing::ChangeRoute> srv_change_route_;
+  Srv<autoware::adapi_specs::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_;
@@ -60,20 +60,20 @@ class RoutingNode : public rclcpp::Node
   void on_state(const State::Message::ConstSharedPtr msg);
   void on_route(const Route::Message::ConstSharedPtr msg);
   void on_clear_route(
-    const autoware_ad_api::routing::ClearRoute::Service::Request::SharedPtr req,
-    const autoware_ad_api::routing::ClearRoute::Service::Response::SharedPtr res);
+    const autoware::adapi_specs::routing::ClearRoute::Service::Request::SharedPtr req,
+    const autoware::adapi_specs::routing::ClearRoute::Service::Response::SharedPtr res);
   void on_set_route_points(
-    const autoware_ad_api::routing::SetRoutePoints::Service::Request::SharedPtr req,
-    const autoware_ad_api::routing::SetRoutePoints::Service::Response::SharedPtr res);
+    const autoware::adapi_specs::routing::SetRoutePoints::Service::Request::SharedPtr req,
+    const autoware::adapi_specs::routing::SetRoutePoints::Service::Response::SharedPtr res);
   void on_set_route(
-    const autoware_ad_api::routing::SetRoute::Service::Request::SharedPtr req,
-    const autoware_ad_api::routing::SetRoute::Service::Response::SharedPtr res);
+    const autoware::adapi_specs::routing::SetRoute::Service::Request::SharedPtr req,
+    const autoware::adapi_specs::routing::SetRoute::Service::Response::SharedPtr res);
   void on_change_route_points(
-    const autoware_ad_api::routing::SetRoutePoints::Service::Request::SharedPtr req,
-    const autoware_ad_api::routing::SetRoutePoints::Service::Response::SharedPtr res);
+    const autoware::adapi_specs::routing::SetRoutePoints::Service::Request::SharedPtr req,
+    const autoware::adapi_specs::routing::SetRoutePoints::Service::Response::SharedPtr res);
   void on_change_route(
-    const autoware_ad_api::routing::SetRoute::Service::Request::SharedPtr req,
-    const autoware_ad_api::routing::SetRoute::Service::Response::SharedPtr res);
+    const autoware::adapi_specs::routing::SetRoute::Service::Request::SharedPtr req,
+    const autoware::adapi_specs::routing::SetRoute::Service::Response::SharedPtr res);
 };
 
 }  // namespace autoware::default_adapi
diff --git a/system/autoware_default_adapi/src/vehicle.cpp b/system/autoware_default_adapi/src/vehicle.cpp
index 36789a8417b3f..5620062ede278 100644
--- a/system/autoware_default_adapi/src/vehicle.cpp
+++ b/system/autoware_default_adapi/src/vehicle.cpp
@@ -140,7 +140,7 @@ void VehicleNode::publish_kinematics()
 {
   if (!kinematic_state_msgs_ || !acceleration_msgs_ || !map_projector_info_) return;
 
-  autoware_ad_api::vehicle::VehicleKinematics::Message vehicle_kinematics;
+  autoware::adapi_specs::vehicle::VehicleKinematics::Message vehicle_kinematics;
   vehicle_kinematics.pose.header = kinematic_state_msgs_->header;
   vehicle_kinematics.pose.pose = kinematic_state_msgs_->pose;
   vehicle_kinematics.twist.header = kinematic_state_msgs_->header;
@@ -176,7 +176,7 @@ void VehicleNode::publish_status()
     !hazard_light_status_msgs_)
     return;
 
-  autoware_ad_api::vehicle::VehicleStatus::Message vehicle_status;
+  autoware::adapi_specs::vehicle::VehicleStatus::Message vehicle_status;
   vehicle_status.stamp = now();
   vehicle_status.steering_tire_angle = steering_status_msgs_->steering_tire_angle;
   vehicle_status.gear.status = mapping(gear_type_, gear_status_msgs_->report, ApiGear::UNKNOWN);
diff --git a/system/autoware_default_adapi/src/vehicle.hpp b/system/autoware_default_adapi/src/vehicle.hpp
index ad03aac9116ea..9bb83cb1613e9 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/adapi_specs/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 <rclcpp/rclcpp.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/gear.hpp>
@@ -40,8 +40,8 @@ class VehicleNode : public rclcpp::Node
 
 private:
   rclcpp::CallbackGroup::SharedPtr group_cli_;
-  Pub<autoware_ad_api::vehicle::VehicleKinematics> pub_kinematics_;
-  Pub<autoware_ad_api::vehicle::VehicleStatus> pub_status_;
+  Pub<autoware::adapi_specs::vehicle::VehicleKinematics> pub_kinematics_;
+  Pub<autoware::adapi_specs::vehicle::VehicleStatus> pub_status_;
   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_;
diff --git a/system/autoware_default_adapi/src/vehicle_door.hpp b/system/autoware_default_adapi/src/vehicle_door.hpp
index 9b04b08adb438..50312a38a4cb7 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/adapi_specs/vehicle.hpp>
 #include <autoware/component_interface_specs/vehicle.hpp>
-#include <autoware_ad_api_specs/vehicle.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <optional>
@@ -36,9 +36,9 @@ class VehicleDoorNode : public rclcpp::Node
   void on_status(
     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_;
+  Srv<autoware::adapi_specs::vehicle::DoorCommand> srv_command_;
+  Srv<autoware::adapi_specs::vehicle::DoorLayout> srv_layout_;
+  Pub<autoware::adapi_specs::vehicle::DoorStatus> pub_status_;
   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_;
diff --git a/system/autoware_default_adapi/src/vehicle_info.hpp b/system/autoware_default_adapi/src/vehicle_info.hpp
index f13f222fc269e..d7c9ff501eb43 100644
--- a/system/autoware_default_adapi/src/vehicle_info.hpp
+++ b/system/autoware_default_adapi/src/vehicle_info.hpp
@@ -15,7 +15,7 @@
 #ifndef VEHICLE_INFO_HPP_
 #define VEHICLE_INFO_HPP_
 
-#include <autoware_ad_api_specs/vehicle.hpp>
+#include <autoware/adapi_specs/vehicle.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 // This file should be included after messages.
@@ -30,7 +30,7 @@ class VehicleInfoNode : public rclcpp::Node
   explicit VehicleInfoNode(const rclcpp::NodeOptions & options);
 
 private:
-  Srv<autoware_ad_api::vehicle::Dimensions> srv_dimensions_;
+  Srv<autoware::adapi_specs::vehicle::Dimensions> srv_dimensions_;
   autoware_adapi_v1_msgs::msg::VehicleDimensions dimensions_;
 };
 
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/package.xml b/system/default_ad_api_helpers/ad_api_adaptors/package.xml
index 5a6a3199c088a..f6210809122de 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/package.xml
+++ b/system/default_ad_api_helpers/ad_api_adaptors/package.xml
@@ -12,7 +12,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_ad_api_specs</depend>
+  <depend>autoware_adapi_specs</depend>
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_component_interface_utils</depend>
   <depend>autoware_map_height_fitter</depend>
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp
index ffa6b951ffeca..922c4c30b6254 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp
+++ b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp
@@ -15,9 +15,9 @@
 #ifndef INITIAL_POSE_ADAPTOR_HPP_
 #define INITIAL_POSE_ADAPTOR_HPP_
 
+#include <autoware/adapi_specs/localization.hpp>
 #include <autoware/component_interface_utils/rclcpp.hpp>
 #include <autoware/map_height_fitter/map_height_fitter.hpp>
-#include <autoware_ad_api_specs/localization.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
@@ -32,7 +32,7 @@ class InitialPoseAdaptor : public rclcpp::Node
 
 private:
   using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped;
-  using Initialize = autoware_ad_api::localization::Initialize;
+  using Initialize = autoware::adapi_specs::localization::Initialize;
   rclcpp::Subscription<PoseWithCovarianceStamped>::SharedPtr sub_initial_pose_;
   autoware::component_interface_utils::Client<Initialize>::SharedPtr cli_initialize_;
   std::array<double, 36> rviz_particle_covariance_;
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp b/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp
index 13a047da26c7c..b4577573b665b 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp
+++ b/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp
@@ -15,8 +15,8 @@
 #ifndef ROUTING_ADAPTOR_HPP_
 #define ROUTING_ADAPTOR_HPP_
 
+#include <autoware/adapi_specs/routing.hpp>
 #include <autoware/component_interface_utils/rclcpp.hpp>
-#include <autoware_ad_api_specs/routing.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
@@ -33,10 +33,10 @@ class RoutingAdaptor : public rclcpp::Node
 
 private:
   using PoseStamped = geometry_msgs::msg::PoseStamped;
-  using SetRoutePoints = autoware_ad_api::routing::SetRoutePoints;
-  using ChangeRoutePoints = autoware_ad_api::routing::ChangeRoutePoints;
-  using ClearRoute = autoware_ad_api::routing::ClearRoute;
-  using RouteState = autoware_ad_api::routing::RouteState;
+  using SetRoutePoints = autoware::adapi_specs::routing::SetRoutePoints;
+  using ChangeRoutePoints = autoware::adapi_specs::routing::ChangeRoutePoints;
+  using ClearRoute = autoware::adapi_specs::routing::ClearRoute;
+  using RouteState = autoware::adapi_specs::routing::RouteState;
   autoware::component_interface_utils::Client<ChangeRoutePoints>::SharedPtr cli_reroute_;
   autoware::component_interface_utils::Client<SetRoutePoints>::SharedPtr cli_route_;
   autoware::component_interface_utils::Client<ClearRoute>::SharedPtr cli_clear_;
diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml
index 649192144d032..0f665cfc4f948 100644
--- a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml
+++ b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml
@@ -12,7 +12,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_ad_api_specs</depend>
+  <depend>autoware_adapi_specs</depend>
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_component_interface_utils</depend>
   <depend>rclcpp</depend>
diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp b/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp
index 7cdf0e3544501..a22a19cc592d2 100644
--- a/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp
+++ b/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp
@@ -15,8 +15,8 @@
 #ifndef AUTOMATIC_POSE_INITIALIZER_HPP_
 #define AUTOMATIC_POSE_INITIALIZER_HPP_
 
+#include <autoware/adapi_specs/localization.hpp>
 #include <autoware/component_interface_utils/rclcpp.hpp>
-#include <autoware_ad_api_specs/localization.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 namespace automatic_pose_initializer
@@ -29,8 +29,8 @@ class AutomaticPoseInitializer : public rclcpp::Node
 
 private:
   void on_timer();
-  using Initialize = autoware_ad_api::localization::Initialize;
-  using State = autoware_ad_api::localization::InitializationState;
+  using Initialize = autoware::adapi_specs::localization::Initialize;
+  using State = autoware::adapi_specs::localization::InitializationState;
   rclcpp::CallbackGroup::SharedPtr group_cli_;
   rclcpp::TimerBase::SharedPtr timer_;
   autoware::component_interface_utils::Client<Initialize>::SharedPtr cli_initialize_;