diff --git a/planning/planning_validator/CMakeLists.txt b/planning/autoware_planning_validator/CMakeLists.txt
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rename from planning/planning_validator/CMakeLists.txt
rename to planning/autoware_planning_validator/CMakeLists.txt
diff --git a/planning/planning_validator/README.md b/planning/autoware_planning_validator/README.md
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diff --git a/planning/planning_validator/config/planning_validator.param.yaml b/planning/autoware_planning_validator/config/planning_validator.param.yaml
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rename from planning/planning_validator/config/planning_validator.param.yaml
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diff --git a/planning/planning_validator/config/planning_validator_plotjugler_config.xml b/planning/autoware_planning_validator/config/planning_validator_plotjugler_config.xml
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rename from planning/planning_validator/config/planning_validator_plotjugler_config.xml
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diff --git a/planning/planning_validator/image/planning_validator.drawio.svg b/planning/autoware_planning_validator/image/planning_validator.drawio.svg
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diff --git a/planning/planning_validator/include/autoware_planning_validator/debug_marker.hpp b/planning/autoware_planning_validator/include/autoware_planning_validator/debug_marker.hpp
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rename from planning/planning_validator/include/autoware_planning_validator/debug_marker.hpp
rename to planning/autoware_planning_validator/include/autoware_planning_validator/debug_marker.hpp
diff --git a/planning/planning_validator/include/autoware_planning_validator/planning_validator.hpp b/planning/autoware_planning_validator/include/autoware_planning_validator/planning_validator.hpp
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rename from planning/planning_validator/include/autoware_planning_validator/planning_validator.hpp
rename to planning/autoware_planning_validator/include/autoware_planning_validator/planning_validator.hpp
diff --git a/planning/planning_validator/include/autoware_planning_validator/utils.hpp b/planning/autoware_planning_validator/include/autoware_planning_validator/utils.hpp
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rename from planning/planning_validator/include/autoware_planning_validator/utils.hpp
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diff --git a/planning/planning_validator/launch/invalid_trajectory_publisher.launch.xml b/planning/autoware_planning_validator/launch/invalid_trajectory_publisher.launch.xml
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rename from planning/planning_validator/launch/invalid_trajectory_publisher.launch.xml
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diff --git a/planning/planning_validator/launch/planning_validator.launch.xml b/planning/autoware_planning_validator/launch/planning_validator.launch.xml
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rename from planning/planning_validator/launch/planning_validator.launch.xml
rename to planning/autoware_planning_validator/launch/planning_validator.launch.xml
diff --git a/planning/planning_validator/msg/PlanningValidatorStatus.msg b/planning/autoware_planning_validator/msg/PlanningValidatorStatus.msg
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rename from planning/planning_validator/msg/PlanningValidatorStatus.msg
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diff --git a/planning/planning_validator/package.xml b/planning/autoware_planning_validator/package.xml
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diff --git a/planning/planning_validator/src/debug_marker.cpp b/planning/autoware_planning_validator/src/debug_marker.cpp
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rename from planning/planning_validator/src/debug_marker.cpp
rename to planning/autoware_planning_validator/src/debug_marker.cpp
diff --git a/planning/planning_validator/src/invalid_trajectory_publisher/invalid_trajectory_publisher.cpp b/planning/autoware_planning_validator/src/invalid_trajectory_publisher/invalid_trajectory_publisher.cpp
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rename from planning/planning_validator/src/invalid_trajectory_publisher/invalid_trajectory_publisher.cpp
rename to planning/autoware_planning_validator/src/invalid_trajectory_publisher/invalid_trajectory_publisher.cpp
diff --git a/planning/planning_validator/src/invalid_trajectory_publisher/invalid_trajectory_publisher.hpp b/planning/autoware_planning_validator/src/invalid_trajectory_publisher/invalid_trajectory_publisher.hpp
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rename from planning/planning_validator/src/invalid_trajectory_publisher/invalid_trajectory_publisher.hpp
rename to planning/autoware_planning_validator/src/invalid_trajectory_publisher/invalid_trajectory_publisher.hpp
diff --git a/planning/planning_validator/src/planning_validator.cpp b/planning/autoware_planning_validator/src/planning_validator.cpp
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rename from planning/planning_validator/src/planning_validator.cpp
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diff --git a/planning/planning_validator/src/utils.cpp b/planning/autoware_planning_validator/src/utils.cpp
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rename from planning/planning_validator/src/utils.cpp
rename to planning/autoware_planning_validator/src/utils.cpp
diff --git a/planning/planning_validator/test/src/test_main.cpp b/planning/autoware_planning_validator/test/src/test_main.cpp
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rename from planning/planning_validator/test/src/test_main.cpp
rename to planning/autoware_planning_validator/test/src/test_main.cpp
diff --git a/planning/planning_validator/test/src/test_parameter.hpp b/planning/autoware_planning_validator/test/src/test_parameter.hpp
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rename from planning/planning_validator/test/src/test_parameter.hpp
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diff --git a/planning/planning_validator/test/src/test_planning_validator_functions.cpp b/planning/autoware_planning_validator/test/src/test_planning_validator_functions.cpp
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rename from planning/planning_validator/test/src/test_planning_validator_functions.cpp
rename to planning/autoware_planning_validator/test/src/test_planning_validator_functions.cpp
diff --git a/planning/planning_validator/test/src/test_planning_validator_helper.cpp b/planning/autoware_planning_validator/test/src/test_planning_validator_helper.cpp
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rename from planning/planning_validator/test/src/test_planning_validator_helper.cpp
rename to planning/autoware_planning_validator/test/src/test_planning_validator_helper.cpp
diff --git a/planning/planning_validator/test/src/test_planning_validator_helper.hpp b/planning/autoware_planning_validator/test/src/test_planning_validator_helper.hpp
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rename from planning/planning_validator/test/src/test_planning_validator_helper.hpp
rename to planning/autoware_planning_validator/test/src/test_planning_validator_helper.hpp
diff --git a/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp b/planning/autoware_planning_validator/test/src/test_planning_validator_node_interface.cpp
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rename from planning/planning_validator/test/src/test_planning_validator_node_interface.cpp
rename to planning/autoware_planning_validator/test/src/test_planning_validator_node_interface.cpp
diff --git a/planning/planning_validator/test/src/test_planning_validator_pubsub.cpp b/planning/autoware_planning_validator/test/src/test_planning_validator_pubsub.cpp
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rename from planning/planning_validator/test/src/test_planning_validator_pubsub.cpp
rename to planning/autoware_planning_validator/test/src/test_planning_validator_pubsub.cpp