diff --git a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml
index db5a9a0093e7c..e0fdcb1e30408 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml
@@ -18,7 +18,7 @@
         <extra_arg name="use_intra_process_comms" value="false"/>
       </composable_node>
 
-      <composable_node pkg="freespace_planner" plugin="freespace_planner::FreespacePlannerNode" name="freespace_planner" namespace="">
+      <composable_node pkg="autoware_freespace_planner" plugin="autoware::freespace_planner::FreespacePlannerNode" name="freespace_planner" namespace="">
         <!-- topic remap -->
         <remap from="~/input/route" to="/planning/mission_planning/route"/>
         <remap from="~/input/scenario" to="/planning/scenario_planning/scenario"/>
diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml
index cc2d2903005cb..1c881091b0e7d 100644
--- a/launch/tier4_planning_launch/package.xml
+++ b/launch/tier4_planning_launch/package.xml
@@ -61,6 +61,7 @@
   <exec_depend>autoware_costmap_generator</exec_depend>
   <exec_depend>autoware_external_cmd_selector</exec_depend>
   <exec_depend>autoware_external_velocity_limit_selector</exec_depend>
+  <exec_depend>autoware_freespace_planner</exec_depend>
   <exec_depend>autoware_path_optimizer</exec_depend>
   <exec_depend>autoware_planning_topic_converter</exec_depend>
   <exec_depend>autoware_planning_validator</exec_depend>
@@ -69,7 +70,6 @@
   <exec_depend>autoware_surround_obstacle_checker</exec_depend>
   <exec_depend>autoware_velocity_smoother</exec_depend>
   <exec_depend>behavior_path_planner</exec_depend>
-  <exec_depend>freespace_planner</exec_depend>
   <exec_depend>glog_component</exec_depend>
   <exec_depend>mission_planner</exec_depend>
   <exec_depend>obstacle_cruise_planner</exec_depend>
diff --git a/planning/autoware_behavior_path_start_planner_module/README.md b/planning/autoware_behavior_path_start_planner_module/README.md
index bcb3b1bec1fd9..b2c92f31ded31 100644
--- a/planning/autoware_behavior_path_start_planner_module/README.md
+++ b/planning/autoware_behavior_path_start_planner_module/README.md
@@ -545,4 +545,4 @@ To run this feature, you need to set `parking_lot` to the map, `activate_by_scen
 | end_pose_search_end_distance   | [m]  | double | distance from ego to the end point of the search for the end point in the freespace_pull_out driving lane                                | 30.0          |
 | end_pose_search_interval       | [m]  | bool   | interval to search for the end point in the freespace_pull_out driving lane                                                              | 2.0           |
 
-See [freespace_planner](../freespace_planner/README.md) for other parameters.
+See [freespace_planner](../autoware_freespace_planner/README.md) for other parameters.
diff --git a/planning/freespace_planner/CMakeLists.txt b/planning/autoware_freespace_planner/CMakeLists.txt
similarity index 64%
rename from planning/freespace_planner/CMakeLists.txt
rename to planning/autoware_freespace_planner/CMakeLists.txt
index a33c9859afe75..7901be70fbc63 100644
--- a/planning/freespace_planner/CMakeLists.txt
+++ b/planning/autoware_freespace_planner/CMakeLists.txt
@@ -1,24 +1,24 @@
 cmake_minimum_required(VERSION 3.14)
-project(freespace_planner)
+project(autoware_freespace_planner)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 ament_auto_add_library(freespace_planner_node SHARED
-  src/freespace_planner/freespace_planner_node.cpp
+  src/autoware_freespace_planner/freespace_planner_node.cpp
 )
 
 rclcpp_components_register_node(freespace_planner_node
-  PLUGIN "freespace_planner::FreespacePlannerNode"
+  PLUGIN "autoware::freespace_planner::FreespacePlannerNode"
   EXECUTABLE freespace_planner
 )
 
 if(BUILD_TESTING)
   ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
-    test/test_${PROJECT_NAME}_node_interface.cpp
+    test/test_freespace_planner_node_interface.cpp
   )
   target_link_libraries(test_${PROJECT_NAME}
-    ${PROJECT_NAME}_node
+    freespace_planner_node
   )
 endif()
 
diff --git a/planning/freespace_planner/README.md b/planning/autoware_freespace_planner/README.md
similarity index 99%
rename from planning/freespace_planner/README.md
rename to planning/autoware_freespace_planner/README.md
index 6ed0ab605ea05..6bf13a81c0413 100644
--- a/planning/freespace_planner/README.md
+++ b/planning/autoware_freespace_planner/README.md
@@ -1,4 +1,4 @@
-# The `freespace_planner`
+# The `autoware_freespace_planner`
 
 ## freespace_planner_node
 
diff --git a/planning/freespace_planner/config/freespace_planner.param.yaml b/planning/autoware_freespace_planner/config/freespace_planner.param.yaml
similarity index 100%
rename from planning/freespace_planner/config/freespace_planner.param.yaml
rename to planning/autoware_freespace_planner/config/freespace_planner.param.yaml
diff --git a/planning/freespace_planner/include/freespace_planner/freespace_planner_node.hpp b/planning/autoware_freespace_planner/include/autoware_freespace_planner/freespace_planner_node.hpp
similarity index 95%
rename from planning/freespace_planner/include/freespace_planner/freespace_planner_node.hpp
rename to planning/autoware_freespace_planner/include/autoware_freespace_planner/freespace_planner_node.hpp
index 22205ce427632..2084d8a3aad24 100644
--- a/planning/freespace_planner/include/freespace_planner/freespace_planner_node.hpp
+++ b/planning/autoware_freespace_planner/include/autoware_freespace_planner/freespace_planner_node.hpp
@@ -28,8 +28,8 @@
  * limitations under the License.
  */
 
-#ifndef FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_
-#define FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_
+#ifndef AUTOWARE_FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_
+#define AUTOWARE_FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_
 
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 
@@ -63,7 +63,7 @@
 #include <string>
 #include <vector>
 
-namespace freespace_planner
+namespace autoware::freespace_planner
 {
 using autoware::freespace_planning_algorithms::AbstractPlanningAlgorithm;
 using autoware::freespace_planning_algorithms::AstarParam;
@@ -165,6 +165,6 @@ class FreespacePlannerNode : public rclcpp::Node
 
   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
 };
-}  // namespace freespace_planner
+}  // namespace autoware::freespace_planner
 
-#endif  // FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_
+#endif  // AUTOWARE_FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_
diff --git a/planning/freespace_planner/launch/freespace_planner.launch.xml b/planning/autoware_freespace_planner/launch/freespace_planner.launch.xml
similarity index 91%
rename from planning/freespace_planner/launch/freespace_planner.launch.xml
rename to planning/autoware_freespace_planner/launch/freespace_planner.launch.xml
index 3c8cce7a93941..e92a04307fed2 100644
--- a/planning/freespace_planner/launch/freespace_planner.launch.xml
+++ b/planning/autoware_freespace_planner/launch/freespace_planner.launch.xml
@@ -11,7 +11,7 @@
   <!-- vehicle info -->
   <arg name="vehicle_info_param_file" default="$(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml"/>
 
-  <node pkg="freespace_planner" exec="freespace_planner" name="freespace_planner" output="screen">
+  <node pkg="autoware_freespace_planner" exec="freespace_planner" name="freespace_planner" output="screen">
     <remap from="~/input/route" to="$(var input_route)"/>
     <remap from="~/input/occupancy_grid" to="$(var input_occupancy_grid)"/>
     <remap from="~/input/scenario" to="$(var input_scenario)"/>
diff --git a/planning/freespace_planner/package.xml b/planning/autoware_freespace_planner/package.xml
similarity index 93%
rename from planning/freespace_planner/package.xml
rename to planning/autoware_freespace_planner/package.xml
index 06004ce9f308f..8a2ecad429f1b 100644
--- a/planning/freespace_planner/package.xml
+++ b/planning/autoware_freespace_planner/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>freespace_planner</name>
+  <name>autoware_freespace_planner</name>
   <version>0.1.0</version>
-  <description>The freespace_planner package</description>
+  <description>The autoware_freespace_planner package</description>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp
similarity index 98%
rename from planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp
rename to planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp
index f17b9227c89bc..797c140aa9dd9 100644
--- a/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp
+++ b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp
@@ -28,7 +28,7 @@
  * limitations under the License.
  */
 
-#include "freespace_planner/freespace_planner_node.hpp"
+#include "autoware_freespace_planner/freespace_planner_node.hpp"
 
 #include "autoware_freespace_planning_algorithms/abstract_algorithm.hpp"
 
@@ -217,7 +217,7 @@ bool isStopped(
 
 }  // namespace
 
-namespace freespace_planner
+namespace autoware::freespace_planner
 {
 FreespacePlannerNode::FreespacePlannerNode(const rclcpp::NodeOptions & node_options)
 : Node("freespace_planner", node_options)
@@ -583,7 +583,7 @@ void FreespacePlannerNode::initializePlanningAlgorithm()
   }
   RCLCPP_INFO_STREAM(get_logger(), "initialize planning algorithm: " << algo_name);
 }
-}  // namespace freespace_planner
+}  // namespace autoware::freespace_planner
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(freespace_planner::FreespacePlannerNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::freespace_planner::FreespacePlannerNode)
diff --git a/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp b/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp
similarity index 94%
rename from planning/freespace_planner/test/test_freespace_planner_node_interface.cpp
rename to planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp
index 881ce269a7895..621bed12fdabc 100644
--- a/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp
+++ b/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "freespace_planner/freespace_planner_node.hpp"
+#include "autoware_freespace_planner/freespace_planner_node.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
@@ -22,7 +22,7 @@
 
 #include <vector>
 
-using freespace_planner::FreespacePlannerNode;
+using autoware::freespace_planner::FreespacePlannerNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
@@ -41,7 +41,7 @@ std::shared_ptr<FreespacePlannerNode> generateNode()
   const auto planning_test_utils_dir =
     ament_index_cpp::get_package_share_directory("planning_test_utils");
   const auto freespace_planner_dir =
-    ament_index_cpp::get_package_share_directory("freespace_planner");
+    ament_index_cpp::get_package_share_directory("autoware_freespace_planner");
   node_options.arguments(
     {"--ros-args", "--params-file",
      planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",