diff --git a/control/autoware_shift_decider/CMakeLists.txt b/control/autoware_shift_decider/CMakeLists.txt
new file mode 100644
index 0000000000000..269b0fcc33690
--- /dev/null
+++ b/control/autoware_shift_decider/CMakeLists.txt
@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_shift_decider)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME}_node SHARED
+  src/${PROJECT_NAME}.cpp
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}_node
+  PLUGIN "autoware::shift_decider::ShiftDecider"
+  EXECUTABLE ${PROJECT_NAME}
+)
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  launch
+  config
+)
diff --git a/control/shift_decider/README.md b/control/autoware_shift_decider/README.md
similarity index 93%
rename from control/shift_decider/README.md
rename to control/autoware_shift_decider/README.md
index c9fdc20696f0e..84767abceff6b 100644
--- a/control/shift_decider/README.md
+++ b/control/autoware_shift_decider/README.md
@@ -2,7 +2,7 @@
 
 ## Purpose
 
-`shift_decider` is a module to decide shift from ackermann control command.
+`autoware_shift_decider` is a module to decide shift from ackermann control command.
 
 ## Inner-workings / Algorithms
 
diff --git a/control/shift_decider/config/shift_decider.param.yaml b/control/autoware_shift_decider/config/shift_decider.param.yaml
similarity index 100%
rename from control/shift_decider/config/shift_decider.param.yaml
rename to control/autoware_shift_decider/config/shift_decider.param.yaml
diff --git a/control/shift_decider/include/shift_decider/shift_decider.hpp b/control/autoware_shift_decider/include/autoware_shift_decider/autoware_shift_decider.hpp
similarity index 88%
rename from control/shift_decider/include/shift_decider/shift_decider.hpp
rename to control/autoware_shift_decider/include/autoware_shift_decider/autoware_shift_decider.hpp
index b11a0f40625af..f3371a372b800 100644
--- a/control/shift_decider/include/shift_decider/shift_decider.hpp
+++ b/control/autoware_shift_decider/include/autoware_shift_decider/autoware_shift_decider.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SHIFT_DECIDER__SHIFT_DECIDER_HPP_
-#define SHIFT_DECIDER__SHIFT_DECIDER_HPP_
+#ifndef AUTOWARE_SHIFT_DECIDER__AUTOWARE_SHIFT_DECIDER_HPP_
+#define AUTOWARE_SHIFT_DECIDER__AUTOWARE_SHIFT_DECIDER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -24,6 +24,9 @@
 
 #include <memory>
 
+namespace autoware::shift_decider
+{
+
 class ShiftDecider : public rclcpp::Node
 {
 public:
@@ -52,5 +55,6 @@ class ShiftDecider : public rclcpp::Node
 
   bool park_on_goal_;
 };
+}  // namespace autoware::shift_decider
 
-#endif  // SHIFT_DECIDER__SHIFT_DECIDER_HPP_
+#endif  // AUTOWARE_SHIFT_DECIDER__AUTOWARE_SHIFT_DECIDER_HPP_
diff --git a/control/shift_decider/launch/shift_decider.launch.xml b/control/autoware_shift_decider/launch/shift_decider.launch.xml
similarity index 55%
rename from control/shift_decider/launch/shift_decider.launch.xml
rename to control/autoware_shift_decider/launch/shift_decider.launch.xml
index 73ed434ade7f6..d04af22ec828d 100644
--- a/control/shift_decider/launch/shift_decider.launch.xml
+++ b/control/autoware_shift_decider/launch/shift_decider.launch.xml
@@ -1,7 +1,7 @@
 <launch>
-  <arg name="config_file" default="$(find-pkg-share shift_decider)/config/shift_decider.param.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share autoware_shift_decider)/config/shift_decider.param.yaml"/>
 
-  <node pkg="shift_decider" exec="shift_decider" name="shift_decider" output="screen">
+  <node pkg="autoware_shift_decider" exec="autoware_shift_decider" name="autoware_shift_decider" output="screen">
     <remap from="input/control_cmd" to="/control/trajectory_follower/control_cmd"/>
     <remap from="input/state" to="/autoware/state"/>
     <remap from="output/gear_cmd" to="/control/shift_decider/gear_cmd"/>
diff --git a/control/shift_decider/package.xml b/control/autoware_shift_decider/package.xml
similarity index 89%
rename from control/shift_decider/package.xml
rename to control/autoware_shift_decider/package.xml
index 885e780c90bcc..7ab292662bf96 100644
--- a/control/shift_decider/package.xml
+++ b/control/autoware_shift_decider/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>shift_decider</name>
+  <name>autoware_shift_decider</name>
   <version>0.1.0</version>
-  <description>The shift_decider package</description>
+  <description>The autoware_shift_decider package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <license>Apache License 2.0</license>
 
diff --git a/control/shift_decider/schema/shift_decider.schema.json b/control/autoware_shift_decider/schema/shift_decider.schema.json
similarity index 100%
rename from control/shift_decider/schema/shift_decider.schema.json
rename to control/autoware_shift_decider/schema/shift_decider.schema.json
diff --git a/control/shift_decider/src/shift_decider.cpp b/control/autoware_shift_decider/src/autoware_shift_decider.cpp
similarity index 94%
rename from control/shift_decider/src/shift_decider.cpp
rename to control/autoware_shift_decider/src/autoware_shift_decider.cpp
index f003513060a34..4df45d6ccdb26 100644
--- a/control/shift_decider/src/shift_decider.cpp
+++ b/control/autoware_shift_decider/src/autoware_shift_decider.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "shift_decider/shift_decider.hpp"
+#include "autoware_shift_decider/autoware_shift_decider.hpp"
 
 #include <rclcpp/timer.hpp>
 
@@ -21,6 +21,9 @@
 #include <memory>
 #include <utility>
 
+namespace autoware::shift_decider
+{
+
 ShiftDecider::ShiftDecider(const rclcpp::NodeOptions & node_options)
 : Node("shift_decider", node_options)
 {
@@ -104,6 +107,7 @@ void ShiftDecider::initTimer(double period_s)
   timer_ =
     rclcpp::create_timer(this, get_clock(), period_ns, std::bind(&ShiftDecider::onTimer, this));
 }
+}  // namespace autoware::shift_decider
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(ShiftDecider)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::shift_decider::ShiftDecider)
diff --git a/control/shift_decider/CMakeLists.txt b/control/shift_decider/CMakeLists.txt
deleted file mode 100644
index ca6f4af74f8ca..0000000000000
--- a/control/shift_decider/CMakeLists.txt
+++ /dev/null
@@ -1,20 +0,0 @@
-cmake_minimum_required(VERSION 3.14)
-project(shift_decider)
-
-find_package(autoware_cmake REQUIRED)
-autoware_package()
-
-ament_auto_add_library(shift_decider_node SHARED
-  src/shift_decider.cpp
-)
-
-rclcpp_components_register_node(shift_decider_node
-  PLUGIN "ShiftDecider"
-  EXECUTABLE shift_decider
-)
-
-ament_auto_package(
-  INSTALL_TO_SHARE
-  launch
-  config
-)
diff --git a/launch/tier4_control_launch/control_launch.drawio.svg b/launch/tier4_control_launch/control_launch.drawio.svg
index 5d13b84a0b34b..66050f7b06759 100644
--- a/launch/tier4_control_launch/control_launch.drawio.svg
+++ b/launch/tier4_control_launch/control_launch.drawio.svg
@@ -282,17 +282,17 @@
           >
             <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
               <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
-                shift_decider
+                autoware_shift_decider
                 <br/>
                 <br/>
                 <div style="text-align: left">
-                  <span>package: shift_decider</span>
+                  <span>package: autoware_shift_decider</span>
                 </div>
               </div>
             </div>
           </div>
         </foreignObject>
-        <text x="360" y="939" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">shift_decider...</text>
+        <text x="360" y="939" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">autoware_shift_decider...</text>
       </switch>
     </g>
     <rect x="550" y="490" width="240" height="110" fill="#e1d5e7" stroke="#9673a6" pointer-events="all"/>
diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py
index 77140b0e0f630..5008560aa5620 100644
--- a/launch/tier4_control_launch/launch/control.launch.py
+++ b/launch/tier4_control_launch/launch/control.launch.py
@@ -122,9 +122,9 @@ def launch_setup(context, *args, **kwargs):
 
     # shift decider
     shift_decider_component = ComposableNode(
-        package="shift_decider",
-        plugin="ShiftDecider",
-        name="shift_decider",
+        package="autoware_shift_decider",
+        plugin="autoware::shift_decider::ShiftDecider",
+        name="autoware_shift_decider",
         remappings=[
             ("input/control_cmd", "/control/trajectory_follower/control_cmd"),
             ("input/state", "/autoware/state"),
diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml
index 801fa274dd086..0c02672783be4 100644
--- a/launch/tier4_control_launch/package.xml
+++ b/launch/tier4_control_launch/package.xml
@@ -11,11 +11,11 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <exec_depend>autoware_shift_decider</exec_depend>
   <exec_depend>control_evaluator</exec_depend>
   <exec_depend>external_cmd_converter</exec_depend>
   <exec_depend>external_cmd_selector</exec_depend>
   <exec_depend>lane_departure_checker</exec_depend>
-  <exec_depend>shift_decider</exec_depend>
   <exec_depend>trajectory_follower_node</exec_depend>
   <exec_depend>vehicle_cmd_gate</exec_depend>