diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 9c64b64645c6f..a55e036e4f76b 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -246,7 +246,7 @@ system/velodyne_monitor/** fumihito.ito@tier4.jp
 tools/reaction_analyzer/** berkay@leodrive.ai
 vehicle/accel_brake_map_calibrator/** taiki.tanaka@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp
 vehicle/autoware_steer_offset_estimator/** taiki.tanaka@tier4.jp
-vehicle/external_cmd_converter/** takamasa.horibe@tier4.jp
+vehicle/autoware_external_cmd_converter/** takamasa.horibe@tier4.jp
 vehicle/raw_vehicle_cmd_converter/** makoto.kurihara@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp
 vehicle/vehicle_info_util/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 
diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py
index 1183514e9a3cb..977410e9d1ee3 100644
--- a/launch/tier4_control_launch/launch/control.launch.py
+++ b/launch/tier4_control_launch/launch/control.launch.py
@@ -290,7 +290,7 @@ def launch_setup(context, *args, **kwargs):
     # external cmd converter
     external_cmd_converter_loader = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            [FindPackageShare("external_cmd_converter"), "/launch/external_cmd_converter.launch.py"]
+            [FindPackageShare("autoware_external_cmd_converter"), "/launch/external_cmd_converter.launch.py"]
         ),
         launch_arguments=[
             ("use_intra_process", LaunchConfiguration("use_intra_process")),
diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml
index f02ec0aee47b6..f4293e2af1ca6 100644
--- a/launch/tier4_control_launch/package.xml
+++ b/launch/tier4_control_launch/package.xml
@@ -15,7 +15,8 @@
   <exec_depend>autoware_lane_departure_checker</exec_depend>
   <exec_depend>autoware_vehicle_cmd_gate</exec_depend>
   <exec_depend>control_evaluator</exec_depend>
-  <exec_depend>external_cmd_converter</exec_depend>
+  <exec_depend>autoware_external_cmd_converter</exec_depend>
+  <exec_depend>external_cmd_selector</exec_depend>
   <exec_depend>shift_decider</exec_depend>
   <exec_depend>trajectory_follower_node</exec_depend>
 
diff --git a/vehicle/external_cmd_converter/CMakeLists.txt b/vehicle/external_cmd_converter/CMakeLists.txt
index 9624067bcf757..4ea0786128235 100644
--- a/vehicle/external_cmd_converter/CMakeLists.txt
+++ b/vehicle/external_cmd_converter/CMakeLists.txt
@@ -1,15 +1,15 @@
 cmake_minimum_required(VERSION 3.14)
-project(external_cmd_converter)
+project(autoware_external_cmd_converter)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_library(external_cmd_converter SHARED
+ament_auto_add_library(autoware_external_cmd_converter SHARED
   src/node.cpp
 )
 
-rclcpp_components_register_node(external_cmd_converter
-  PLUGIN "external_cmd_converter::ExternalCmdConverterNode"
+rclcpp_components_register_node(autoware_external_cmd_converter
+  PLUGIN "autoware_external_cmd_converter::ExternalCmdConverterNode"
   EXECUTABLE external_cmd_converter_node
 )
 
diff --git a/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp b/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp
index 2488c8ea7f300..f0ad4ddff598d 100644
--- a/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp
+++ b/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EXTERNAL_CMD_CONVERTER__NODE_HPP_
-#define EXTERNAL_CMD_CONVERTER__NODE_HPP_
+#ifndef AUTOWARE_EXTERNAL_CMD_CONVERTER__NODE_HPP_
+#define AUTOWARE_EXTERNAL_CMD_CONVERTER__NODE_HPP_
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <raw_vehicle_cmd_converter/accel_map.hpp>
@@ -30,7 +30,7 @@
 #include <memory>
 #include <string>
 
-namespace external_cmd_converter
+namespace autoware_external_cmd_converter
 {
 using GearCommand = autoware_vehicle_msgs::msg::GearCommand;
 using Control = autoware_control_msgs::msg::Control;
@@ -99,6 +99,6 @@ class ExternalCmdConverterNode : public rclcpp::Node
   double getShiftVelocitySign(const GearCommand & cmd);
 };
 
-}  // namespace external_cmd_converter
+}  // namespace autoware::external_cmd_converter
 
-#endif  // EXTERNAL_CMD_CONVERTER__NODE_HPP_
+#endif  // AUTOWARE_EXTERNAL_CMD_CONVERTER__NODE_HPP_
diff --git a/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.py b/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.py
index 77dbb99d9b477..95c5cd8f2159f 100644
--- a/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.py
+++ b/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.py
@@ -105,8 +105,8 @@ def generate_launch_description():
     ]
 
     component = ComposableNode(
-        package="external_cmd_converter",
-        plugin="external_cmd_converter::ExternalCmdConverterNode",
+        package="autoware_external_cmd_converter",
+        plugin="autoware_external_cmd_converter::ExternalCmdConverterNode",
         name="external_cmd_converter",
         remappings=[
             _create_mapping_tuple("in/external_control_cmd"),
diff --git a/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml b/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml
index 856b534af81da..c73ed3f6c38b3 100644
--- a/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml
+++ b/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="external_cmd_converter_param" default="$(find-pkg-share external_cmd_converter)/config/external_cmd_converter.param.yaml"/>
+  <arg name="external_cmd_converter_param" default="$(find-pkg-share autoware_external_cmd_converter)/config/external_cmd_converter.param.yaml"/>
   <!-- map file -->
   <arg name="csv_path_accel_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv"/>
   <arg name="csv_path_brake_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv"/>
@@ -24,7 +24,7 @@
   <arg name="out/latest_external_control_cmd" default="/api/external/get/command/selected/control"/>
 
   <!-- node -->
-  <node pkg="external_cmd_converter" exec="external_cmd_converter_node" name="external_cmd_converter" output="screen">
+  <node pkg="autoware_external_cmd_converter" exec="external_cmd_converter_node" name="external_cmd_converter" output="screen">
     <param from="$(var external_cmd_converter_param)" allow_substs="true"/>
     <remap from="in/external_control_cmd" to="$(var in/external_control_cmd)"/>
     <remap from="in/shift_cmd" to="$(var in/shift_cmd)"/>
diff --git a/vehicle/external_cmd_converter/package.xml b/vehicle/external_cmd_converter/package.xml
index 513d73d2d39ff..a22c179978fe9 100644
--- a/vehicle/external_cmd_converter/package.xml
+++ b/vehicle/external_cmd_converter/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>external_cmd_converter</name>
+  <name>autoware_external_cmd_converter</name>
   <version>0.1.0</version>
-  <description>The external_cmd_converter package</description>
+  <description>The autoware_external_cmd_converter package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <license>Apache License 2.0</license>
 
diff --git a/vehicle/external_cmd_converter/src/node.cpp b/vehicle/external_cmd_converter/src/node.cpp
index 21945bb9078b8..8e499e27852b0 100644
--- a/vehicle/external_cmd_converter/src/node.cpp
+++ b/vehicle/external_cmd_converter/src/node.cpp
@@ -19,7 +19,7 @@
 #include <string>
 #include <utility>
 
-namespace external_cmd_converter
+namespace autoware_external_cmd_converter
 {
 ExternalCmdConverterNode::ExternalCmdConverterNode(const rclcpp::NodeOptions & node_options)
 : Node("external_cmd_converter", node_options)
@@ -251,7 +251,7 @@ bool ExternalCmdConverterNode::checkRemoteTopicRate()
 
   return true;
 }
-}  // namespace external_cmd_converter
+}  // namespace autoware_external_cmd_converter
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(external_cmd_converter::ExternalCmdConverterNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware_external_cmd_converter::ExternalCmdConverterNode)