diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 47ddd77bdf68e..0233fee04513c 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -106,6 +106,7 @@ map/map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro
 map/util/lanelet2_map_preprocessor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp
 perception/autoware_crosswalk_traffic_light_estimator/** satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp
 perception/autoware_map_based_prediction/** kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp
+perception/autoware_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_object_range_splitter/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/autoware_object_velocity_splitter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp
 perception/autoware_radar_crossing_objects_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
@@ -128,7 +129,6 @@ perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com yoshi
 perception/lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp
 perception/lidar_transfusion/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp satoshi.tanaka@tier4.jp
 perception/multi_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
-perception/object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/occupancy_grid_map_outlier_filter/** abrahammonrroy@yahoo.com yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/probabilistic_occupancy_grid_map/** mamoru.sobue@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
index d4a9e40f29d97..14e256cc2fd06 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Parameters -->
-  <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
-  <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
+  <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share autoware_object_merger)/config/data_association_matrix.param.yaml"/>
+  <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml"/>
 
   <!-- Pipeline junctions -->
   <arg name="lidar_detection_model"/>
@@ -119,7 +119,7 @@
 
   <!-- 1st merger: camera_lidar_fusion + lidar cluster-->
   <group>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var merger1/input/objects0)"/>
       <arg name="input/object1" value="$(var merger1/input/objects1)"/>
       <arg name="output/object" value="$(var merger1/output/objects)"/>
@@ -131,7 +131,7 @@
 
   <!-- 2nd merger: + detection_by_tracker -->
   <group if="$(var use_detection_by_tracker)">
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var merger2/input/objects0)"/>
       <arg name="input/object1" value="$(var merger2/input/objects1)"/>
       <arg name="output/object" value="$(var merger2/output/objects)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
index 5bd2c36955b55..c62ffb06ecd42 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Parameters -->
-  <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
-  <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
+  <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share autoware_object_merger)/config/data_association_matrix.param.yaml"/>
+  <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml"/>
   <arg name="far_object_merger_sync_queue_size" default="20"/>
 
   <!-- Pipeline junctions -->
@@ -142,7 +142,7 @@
 
   <!-- 1st merger -->
   <group>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var merger1/input/objects0)"/>
       <arg name="input/object1" value="$(var merger1/input/objects1)"/>
       <arg name="output/object" value="$(var merger1/output/objects)"/>
@@ -154,7 +154,7 @@
 
   <!-- 2nd merger: + detection_by_tracker -->
   <group if="$(var use_detection_by_tracker)">
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var merger2/input/objects0)"/>
       <arg name="input/object1" value="$(var merger2/input/objects1)"/>
       <arg name="output/object" value="$(var merger2/output/objects)"/>
@@ -177,7 +177,7 @@
   <!-- Merge far_objects and near_objects in detection stage.
       Control parameter 'use_radar_tracking_fusion' should defined in perception.launch.xml -->
   <group unless="$(var use_radar_tracking_fusion)">
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var merger3/input/objects0)"/>
       <arg name="input/object1" value="$(var merger3/input/objects1)"/>
       <arg name="output/object" value="$(var merger3/output/objects)"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
index c82de41a28b50..b9bb765cb1b16 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Parameters -->
-  <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
-  <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
+  <arg name="object_recognition_detection_object_merger_data_association_matrix_param_path" default="$(find-pkg-share autoware_object_merger)/config/data_association_matrix.param.yaml"/>
+  <arg name="object_recognition_detection_object_merger_distance_threshold_list_path" default="$(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml"/>
 
   <!-- Pipeline junctions -->
   <arg name="lidar_detection_model"/>
@@ -57,7 +57,7 @@
 
   <!-- 1st merger: ML detection + pointcloud cluster -->
   <group>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var merger1/input/objects0)"/>
       <arg name="input/object1" value="$(var merger1/input/objects1)"/>
       <arg name="output/object" value="$(var merger1/output/objects)"/>
@@ -69,7 +69,7 @@
 
   <!-- 2nd merger: + detection_by_tracker -->
   <group if="$(var use_detection_by_tracker)">
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="$(var merger2/input/objects0)"/>
       <arg name="input/object1" value="$(var merger2/input/objects1)"/>
       <arg name="output/object" value="$(var merger2/output/objects)"/>
diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml
index db2968f735a37..a240d3e0576e3 100644
--- a/launch/tier4_perception_launch/package.xml
+++ b/launch/tier4_perception_launch/package.xml
@@ -17,6 +17,7 @@
   <exec_depend>autoware_crosswalk_traffic_light_estimator</exec_depend>
   <exec_depend>autoware_detection_by_tracker</exec_depend>
   <exec_depend>autoware_map_based_prediction</exec_depend>
+  <exec_depend>autoware_object_merger</exec_depend>
   <exec_depend>autoware_object_range_splitter</exec_depend>
   <exec_depend>autoware_object_velocity_splitter</exec_depend>
   <exec_depend>autoware_radar_crossing_objects_noise_filter</exec_depend>
@@ -34,7 +35,6 @@
   <exec_depend>image_transport_decompressor</exec_depend>
   <exec_depend>lidar_apollo_instance_segmentation</exec_depend>
   <exec_depend>multi_object_tracker</exec_depend>
-  <exec_depend>object_merger</exec_depend>
   <exec_depend>occupancy_grid_map_outlier_filter</exec_depend>
   <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>pointcloud_to_laserscan</exec_depend>
diff --git a/perception/object_merger/CMakeLists.txt b/perception/autoware_object_merger/CMakeLists.txt
similarity index 96%
rename from perception/object_merger/CMakeLists.txt
rename to perception/autoware_object_merger/CMakeLists.txt
index 2d9b490945caf..3a2e85c4060ea 100644
--- a/perception/object_merger/CMakeLists.txt
+++ b/perception/autoware_object_merger/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(object_merger)
+project(autoware_object_merger)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
diff --git a/perception/object_merger/README.md b/perception/autoware_object_merger/README.md
similarity index 100%
rename from perception/object_merger/README.md
rename to perception/autoware_object_merger/README.md
diff --git a/perception/object_merger/config/data_association_matrix.param.yaml b/perception/autoware_object_merger/config/data_association_matrix.param.yaml
similarity index 100%
rename from perception/object_merger/config/data_association_matrix.param.yaml
rename to perception/autoware_object_merger/config/data_association_matrix.param.yaml
diff --git a/perception/object_merger/config/object_association_merger.param.yaml b/perception/autoware_object_merger/config/object_association_merger.param.yaml
similarity index 100%
rename from perception/object_merger/config/object_association_merger.param.yaml
rename to perception/autoware_object_merger/config/object_association_merger.param.yaml
diff --git a/perception/object_merger/config/overlapped_judge.param.yaml b/perception/autoware_object_merger/config/overlapped_judge.param.yaml
similarity index 100%
rename from perception/object_merger/config/overlapped_judge.param.yaml
rename to perception/autoware_object_merger/config/overlapped_judge.param.yaml
diff --git a/perception/object_merger/include/autoware_object_merger/association/data_association.hpp b/perception/autoware_object_merger/include/autoware/object_merger/association/data_association.hpp
similarity index 86%
rename from perception/object_merger/include/autoware_object_merger/association/data_association.hpp
rename to perception/autoware_object_merger/include/autoware/object_merger/association/data_association.hpp
index 8433e8f7af537..16e154c83842b 100644
--- a/perception/object_merger/include/autoware_object_merger/association/data_association.hpp
+++ b/perception/autoware_object_merger/include/autoware/object_merger/association/data_association.hpp
@@ -16,12 +16,12 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
-#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
+#ifndef AUTOWARE__OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
+#define AUTOWARE__OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
 
 #define EIGEN_MPL2_ONLY
 
-#include "autoware_object_merger/association/solver/gnn_solver.hpp"
+#include "autoware/object_merger/association/solver/gnn_solver.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -62,4 +62,4 @@ class DataAssociation
 
 }  // namespace autoware::object_merger
 
-#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
diff --git a/perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver.hpp b/perception/autoware_object_merger/include/autoware/object_merger/association/solver/gnn_solver.hpp
similarity index 60%
rename from perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver.hpp
rename to perception/autoware_object_merger/include/autoware/object_merger/association/solver/gnn_solver.hpp
index 6421dd6108a4a..14078451612ec 100644
--- a/perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver.hpp
+++ b/perception/autoware_object_merger/include/autoware/object_merger/association/solver/gnn_solver.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
-#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#ifndef AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#define AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
 
-#include "autoware_object_merger/association/solver/gnn_solver_interface.hpp"
-#include "autoware_object_merger/association/solver/mu_ssp.hpp"
-#include "autoware_object_merger/association/solver/ssp.hpp"
+#include "autoware/object_merger/association/solver/gnn_solver_interface.hpp"
+#include "autoware/object_merger/association/solver/mu_ssp.hpp"
+#include "autoware/object_merger/association/solver/ssp.hpp"
 
-#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
diff --git a/perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver_interface.hpp b/perception/autoware_object_merger/include/autoware/object_merger/association/solver/gnn_solver_interface.hpp
similarity index 81%
rename from perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver_interface.hpp
rename to perception/autoware_object_merger/include/autoware/object_merger/association/solver/gnn_solver_interface.hpp
index 6a0702f056ba7..75f45b6eb5f3b 100644
--- a/perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver_interface.hpp
+++ b/perception/autoware_object_merger/include/autoware/object_merger/association/solver/gnn_solver_interface.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
-#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#ifndef AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#define AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
 
 #include <unordered_map>
 #include <vector>
@@ -32,4 +32,4 @@ class GnnSolverInterface
 };
 }  // namespace autoware::object_merger::gnn_solver
 
-#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
diff --git a/perception/object_merger/include/autoware_object_merger/association/solver/mu_ssp.hpp b/perception/autoware_object_merger/include/autoware/object_merger/association/solver/mu_ssp.hpp
similarity index 79%
rename from perception/object_merger/include/autoware_object_merger/association/solver/mu_ssp.hpp
rename to perception/autoware_object_merger/include/autoware/object_merger/association/solver/mu_ssp.hpp
index 364e9306112a7..4d8075874cbca 100644
--- a/perception/object_merger/include/autoware_object_merger/association/solver/mu_ssp.hpp
+++ b/perception/autoware_object_merger/include/autoware/object_merger/association/solver/mu_ssp.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
-#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
+#ifndef AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
+#define AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
 
-#include "autoware_object_merger/association/solver/gnn_solver_interface.hpp"
+#include "autoware/object_merger/association/solver/gnn_solver_interface.hpp"
 
 #include <unordered_map>
 #include <vector>
@@ -34,4 +34,4 @@ class MuSSP : public GnnSolverInterface
 };
 }  // namespace autoware::object_merger::gnn_solver
 
-#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
diff --git a/perception/object_merger/include/autoware_object_merger/association/solver/ssp.hpp b/perception/autoware_object_merger/include/autoware/object_merger/association/solver/ssp.hpp
similarity index 80%
rename from perception/object_merger/include/autoware_object_merger/association/solver/ssp.hpp
rename to perception/autoware_object_merger/include/autoware/object_merger/association/solver/ssp.hpp
index 41bf390829ade..94563981de011 100644
--- a/perception/object_merger/include/autoware_object_merger/association/solver/ssp.hpp
+++ b/perception/autoware_object_merger/include/autoware/object_merger/association/solver/ssp.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
-#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
+#ifndef AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
+#define AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
 
-#include "autoware_object_merger/association/solver/gnn_solver_interface.hpp"
+#include "autoware/object_merger/association/solver/gnn_solver_interface.hpp"
 
 #include <unordered_map>
 #include <vector>
@@ -34,4 +34,4 @@ class SSP : public GnnSolverInterface
 };
 }  // namespace autoware::object_merger::gnn_solver
 
-#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
diff --git a/perception/object_merger/src/object_association_merger_node.hpp b/perception/autoware_object_merger/include/autoware/object_merger/object_association_merger_node.hpp
similarity index 92%
rename from perception/object_merger/src/object_association_merger_node.hpp
rename to perception/autoware_object_merger/include/autoware/object_merger/object_association_merger_node.hpp
index d11f58bc5a857..81fa34803d6cc 100644
--- a/perception/object_merger/src/object_association_merger_node.hpp
+++ b/perception/autoware_object_merger/include/autoware/object_merger/object_association_merger_node.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_ASSOCIATION_MERGER_NODE_HPP_
-#define OBJECT_ASSOCIATION_MERGER_NODE_HPP_
+#ifndef AUTOWARE__OBJECT_MERGER__OBJECT_ASSOCIATION_MERGER_NODE_HPP_
+#define AUTOWARE__OBJECT_MERGER__OBJECT_ASSOCIATION_MERGER_NODE_HPP_
 
+#include "autoware/object_merger/association/data_association.hpp"
 #include "autoware/universe_utils/ros/debug_publisher.hpp"
 #include "autoware/universe_utils/ros/published_time_publisher.hpp"
 #include "autoware/universe_utils/system/stop_watch.hpp"
-#include "autoware_object_merger/association/data_association.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -91,4 +91,4 @@ class ObjectAssociationMergerNode : public rclcpp::Node
 };
 }  // namespace autoware::object_merger
 
-#endif  // OBJECT_ASSOCIATION_MERGER_NODE_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__OBJECT_ASSOCIATION_MERGER_NODE_HPP_
diff --git a/perception/object_merger/launch/object_association_merger.launch.xml b/perception/autoware_object_merger/launch/object_association_merger.launch.xml
similarity index 74%
rename from perception/object_merger/launch/object_association_merger.launch.xml
rename to perception/autoware_object_merger/launch/object_association_merger.launch.xml
index b26788bb04667..f3c0e8bd5a829 100644
--- a/perception/object_merger/launch/object_association_merger.launch.xml
+++ b/perception/autoware_object_merger/launch/object_association_merger.launch.xml
@@ -4,11 +4,11 @@
   <arg name="input/object1" default="object1"/>
   <arg name="output/object" default="merged_object"/>
   <arg name="priority_mode" default="2" description="0: Object0, 1: Object1, 2: Confidence"/>
-  <arg name="data_association_matrix_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
-  <arg name="distance_threshold_list_path" default="$(find-pkg-share object_merger)/config/overlapped_judge.param.yaml"/>
-  <arg name="object_association_merger_param_path" default="$(find-pkg-share object_merger)/config/object_association_merger.param.yaml"/>
+  <arg name="data_association_matrix_path" default="$(find-pkg-share autoware_object_merger)/config/data_association_matrix.param.yaml"/>
+  <arg name="distance_threshold_list_path" default="$(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml"/>
+  <arg name="object_association_merger_param_path" default="$(find-pkg-share autoware_object_merger)/config/object_association_merger.param.yaml"/>
 
-  <node pkg="object_merger" exec="object_association_merger_node" name="$(anon object_association_merger)" output="screen">
+  <node pkg="autoware_object_merger" exec="object_association_merger_node" name="$(anon object_association_merger)" output="screen">
     <remap from="input/object0" to="$(var input/object0)"/>
     <remap from="input/object1" to="$(var input/object1)"/>
     <remap from="output/object" to="$(var output/object)"/>
diff --git a/perception/object_merger/package.xml b/perception/autoware_object_merger/package.xml
similarity index 91%
rename from perception/object_merger/package.xml
rename to perception/autoware_object_merger/package.xml
index 5ca261b3ddf0e..e87ef8d81b01b 100644
--- a/perception/object_merger/package.xml
+++ b/perception/autoware_object_merger/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>object_merger</name>
+  <name>autoware_object_merger</name>
   <version>0.1.0</version>
-  <description>The object_merger package</description>
+  <description>The autoware_object_merger package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
   <maintainer email="taekjin.lee@tier4.jp">Taekjin Lee</maintainer>
diff --git a/perception/object_merger/schema/data_association_matrix.schema.json b/perception/autoware_object_merger/schema/data_association_matrix.schema.json
similarity index 100%
rename from perception/object_merger/schema/data_association_matrix.schema.json
rename to perception/autoware_object_merger/schema/data_association_matrix.schema.json
diff --git a/perception/object_merger/schema/object_association_merger.schema.json b/perception/autoware_object_merger/schema/object_association_merger.schema.json
similarity index 100%
rename from perception/object_merger/schema/object_association_merger.schema.json
rename to perception/autoware_object_merger/schema/object_association_merger.schema.json
diff --git a/perception/object_merger/schema/overlapped_judge.schema.json b/perception/autoware_object_merger/schema/overlapped_judge.schema.json
similarity index 100%
rename from perception/object_merger/schema/overlapped_judge.schema.json
rename to perception/autoware_object_merger/schema/overlapped_judge.schema.json
diff --git a/perception/object_merger/src/association/data_association.cpp b/perception/autoware_object_merger/src/association/data_association.cpp
similarity index 98%
rename from perception/object_merger/src/association/data_association.cpp
rename to perception/autoware_object_merger/src/association/data_association.cpp
index e317ac63d9831..8b40178b592f8 100644
--- a/perception/object_merger/src/association/data_association.cpp
+++ b/perception/autoware_object_merger/src/association/data_association.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_object_merger/association/data_association.hpp"
+#include "autoware/object_merger/association/data_association.hpp"
 
+#include "autoware/object_merger/association/solver/gnn_solver.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
-#include "autoware_object_merger/association/solver/gnn_solver.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
 #include <algorithm>
diff --git a/perception/object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp b/perception/autoware_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp
similarity index 95%
rename from perception/object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp
rename to perception/autoware_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp
index 6a5dd6473da1f..f852cfb62d419 100644
--- a/perception/object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp
+++ b/perception/autoware_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_object_merger/association/solver/mu_ssp.hpp"
+#include "autoware/object_merger/association/solver/mu_ssp.hpp"
 
 #include <mussp/mussp.h>
 
diff --git a/perception/object_merger/src/association/solver/successive_shortest_path.cpp b/perception/autoware_object_merger/src/association/solver/successive_shortest_path.cpp
similarity index 99%
rename from perception/object_merger/src/association/solver/successive_shortest_path.cpp
rename to perception/autoware_object_merger/src/association/solver/successive_shortest_path.cpp
index e384f12d60051..b97db07d05469 100644
--- a/perception/object_merger/src/association/solver/successive_shortest_path.cpp
+++ b/perception/autoware_object_merger/src/association/solver/successive_shortest_path.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_object_merger/association/solver/ssp.hpp"
+#include "autoware/object_merger/association/solver/ssp.hpp"
 
 #include <algorithm>
 #include <cassert>
diff --git a/perception/object_merger/src/object_association_merger_node.cpp b/perception/autoware_object_merger/src/object_association_merger_node.cpp
similarity index 99%
rename from perception/object_merger/src/object_association_merger_node.cpp
rename to perception/autoware_object_merger/src/object_association_merger_node.cpp
index 321f1a8da8d9e..a1021df1d555f 100644
--- a/perception/object_merger/src/object_association_merger_node.cpp
+++ b/perception/autoware_object_merger/src/object_association_merger_node.cpp
@@ -14,7 +14,7 @@
 
 #define EIGEN_MPL2_ONLY
 
-#include "object_association_merger_node.hpp"
+#include "autoware/object_merger/object_association_merger_node.hpp"
 
 #include "autoware/universe_utils/geometry/geometry.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"