diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 0a3204bd8e63e..ef79303f95e94 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -247,7 +247,7 @@ 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/raw_vehicle_cmd_converter/** makoto.kurihara@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp
+vehicle/autoware_raw_vehicle_cmd_converter/** makoto.kurihara@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp
 vehicle/autoware_steer_offset_estimator/** taiki.tanaka@tier4.jp
 vehicle/autoware_vehicle_info_utils/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 
diff --git a/launch/tier4_vehicle_launch/launch/vehicle.launch.xml b/launch/tier4_vehicle_launch/launch/vehicle.launch.xml
index 0e1d22bfd1827..ffd32ac92c0d5 100644
--- a/launch/tier4_vehicle_launch/launch/vehicle.launch.xml
+++ b/launch/tier4_vehicle_launch/launch/vehicle.launch.xml
@@ -6,7 +6,7 @@
   <arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
   <arg name="initial_engage_state" default="false" description="/vehicle/engage state after starting Autoware"/>
   <arg name="config_dir" default="$(find-pkg-share $(var sensor_model)_description)/config" description="path to dir where sensors_calibration.yaml, etc. are located"/>
-  <arg name="raw_vehicle_cmd_converter_param_path" default="$(find-pkg-share raw_vehicle_cmd_converter)/config/raw_vehicle_cmd_converter.param.yaml"/>
+  <arg name="raw_vehicle_cmd_converter_param_path" default="$(find-pkg-share autoware_raw_vehicle_cmd_converter)/config/raw_vehicle_cmd_converter.param.yaml"/>
 
   <let name="vehicle_launch_pkg" value="$(find-pkg-share $(var vehicle_model)_launch)"/>
 
diff --git a/vehicle/accel_brake_map_calibrator/README.md b/vehicle/accel_brake_map_calibrator/README.md
index c8813280c04ff..c2516eed5de3d 100644
--- a/vehicle/accel_brake_map_calibrator/README.md
+++ b/vehicle/accel_brake_map_calibrator/README.md
@@ -1,6 +1,6 @@
 # accel_brake_map_calibrator
 
-The role of this node is to automatically calibrate `accel_map.csv` / `brake_map.csv` used in the `raw_vehicle_cmd_converter` node.
+The role of this node is to automatically calibrate `accel_map.csv` / `brake_map.csv` used in the `autoware_raw_vehicle_cmd_converter` node.
 
 The base map, which is lexus's one by default, is updated iteratively with the loaded driving data.
 
@@ -134,15 +134,15 @@ You can also save accel and brake map in the default directory where Autoware re
 
 ## System Parameters
 
-| Name                     | Type   | Description                                                                                                                                                                       | Default value                                            |
-| :----------------------- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------------------------------------------------- |
-| update_method            | string | you can select map calibration method. "update_offset_each_cell" calculates offsets for each grid cells on the map. "update_offset_total" calculates the total offset of the map. | "update_offset_each_cell"                                |
-| get_pitch_method         | string | "tf": get pitch from tf, "none": unable to perform pitch validation and pitch compensation                                                                                        | "tf"                                                     |
-| pedal_accel_graph_output | bool   | if true, it will output a log of the pedal accel graph.                                                                                                                           | true                                                     |
-| progress_file_output     | bool   | if true, it will output a log and csv file of the update process.                                                                                                                 | false                                                    |
-| default_map_dir          | str    | directory of default map                                                                                                                                                          | [directory of *raw_vehicle_cmd_converter*]/data/default/ |
-| calibrated_map_dir       | str    | directory of calibrated map                                                                                                                                                       | [directory of *accel_brake_map_calibrator*]/config/      |
-| update_hz                | double | hz for update                                                                                                                                                                     | 10.0                                                     |
+| Name                     | Type   | Description                                                                                                                                                                       | Default value                                                     |
+| :----------------------- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------- |
+| update_method            | string | you can select map calibration method. "update_offset_each_cell" calculates offsets for each grid cells on the map. "update_offset_total" calculates the total offset of the map. | "update_offset_each_cell"                                         |
+| get_pitch_method         | string | "tf": get pitch from tf, "none": unable to perform pitch validation and pitch compensation                                                                                        | "tf"                                                              |
+| pedal_accel_graph_output | bool   | if true, it will output a log of the pedal accel graph.                                                                                                                           | true                                                              |
+| progress_file_output     | bool   | if true, it will output a log and csv file of the update process.                                                                                                                 | false                                                             |
+| default_map_dir          | str    | directory of default map                                                                                                                                                          | [directory of *autoware_raw_vehicle_cmd_converter*]/data/default/ |
+| calibrated_map_dir       | str    | directory of calibrated map                                                                                                                                                       | [directory of *accel_brake_map_calibrator*]/config/               |
+| update_hz                | double | hz for update                                                                                                                                                                     | 10.0                                                              |
 
 ## Algorithm Parameters
 
diff --git a/vehicle/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp b/vehicle/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp
index 6b94b7301540c..e168def1b8ea5 100644
--- a/vehicle/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp
+++ b/vehicle/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp
@@ -17,9 +17,9 @@
 #ifndef ACCEL_BRAKE_MAP_CALIBRATOR__ACCEL_BRAKE_MAP_CALIBRATOR_NODE_HPP_
 #define ACCEL_BRAKE_MAP_CALIBRATOR__ACCEL_BRAKE_MAP_CALIBRATOR_NODE_HPP_
 
+#include "autoware_raw_vehicle_cmd_converter/accel_map.hpp"
+#include "autoware_raw_vehicle_cmd_converter/brake_map.hpp"
 #include "diagnostic_updater/diagnostic_updater.hpp"
-#include "raw_vehicle_cmd_converter/accel_map.hpp"
-#include "raw_vehicle_cmd_converter/brake_map.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/utils.h"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
@@ -56,12 +56,12 @@
 namespace accel_brake_map_calibrator
 {
 
+using autoware::raw_vehicle_cmd_converter::AccelMap;
+using autoware::raw_vehicle_cmd_converter::BrakeMap;
 using autoware_vehicle_msgs::msg::SteeringReport;
 using autoware_vehicle_msgs::msg::VelocityReport;
 using geometry_msgs::msg::TwistStamped;
 using nav_msgs::msg::OccupancyGrid;
-using raw_vehicle_cmd_converter::AccelMap;
-using raw_vehicle_cmd_converter::BrakeMap;
 using std_msgs::msg::Float32MultiArray;
 using tier4_debug_msgs::msg::Float32MultiArrayStamped;
 using tier4_debug_msgs::msg::Float32Stamped;
diff --git a/vehicle/accel_brake_map_calibrator/launch/accel_brake_map_calibrator.launch.xml b/vehicle/accel_brake_map_calibrator/launch/accel_brake_map_calibrator.launch.xml
index c664158a471a7..37ee49fe3c4e0 100644
--- a/vehicle/accel_brake_map_calibrator/launch/accel_brake_map_calibrator.launch.xml
+++ b/vehicle/accel_brake_map_calibrator/launch/accel_brake_map_calibrator.launch.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
   <arg name="accel_brake_map_calib_param" default="$(find-pkg-share accel_brake_map_calibrator)/config/accel_brake_map_calibrator.param.yaml"/>
-  <arg name="csv_default_map_dir" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/"/>
+  <arg name="csv_default_map_dir" default="$(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/"/>
   <arg name="csv_calibrated_map_dir" default="$(find-pkg-share accel_brake_map_calibrator)/config/"/>
   <arg name="logger_level" default="info"/>
   <arg name="rviz" default="true"/>
diff --git a/vehicle/accel_brake_map_calibrator/package.xml b/vehicle/accel_brake_map_calibrator/package.xml
index 4c4eadea5e1ce..0fb299b199742 100644
--- a/vehicle/accel_brake_map_calibrator/package.xml
+++ b/vehicle/accel_brake_map_calibrator/package.xml
@@ -13,11 +13,11 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_raw_vehicle_cmd_converter</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>
   <depend>motion_utils</depend>
-  <depend>raw_vehicle_cmd_converter</depend>
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
diff --git a/vehicle/accel_brake_map_calibrator/scripts/new_accel_brake_map_server.py b/vehicle/accel_brake_map_calibrator/scripts/new_accel_brake_map_server.py
index a2d82a460aed0..35bcfd09eaa38 100755
--- a/vehicle/accel_brake_map_calibrator/scripts/new_accel_brake_map_server.py
+++ b/vehicle/accel_brake_map_calibrator/scripts/new_accel_brake_map_server.py
@@ -40,7 +40,7 @@ def __init__(self):
             CalibData, "/accel_brake_map_calibrator/get_data_service", self.get_data_callback
         )
 
-        default_map_path = get_package_share_directory("raw_vehicle_cmd_converter")
+        default_map_path = get_package_share_directory("autoware_raw_vehicle_cmd_converter")
         self.declare_parameter(
             "/accel_brake_map_calibrator/csv_default_map_dir", default_map_path + "/data/default/"
         )
diff --git a/vehicle/accel_brake_map_calibrator/scripts/view_plot.py b/vehicle/accel_brake_map_calibrator/scripts/view_plot.py
index 4d713cf4848e0..8041f361be3ce 100755
--- a/vehicle/accel_brake_map_calibrator/scripts/view_plot.py
+++ b/vehicle/accel_brake_map_calibrator/scripts/view_plot.py
@@ -45,7 +45,7 @@ def __init__(self, args):
         max_pedal_vel_thr = args.max_pedal_vel_thr
 
         if default_map_dir is None:
-            package_path = get_package_share_directory("raw_vehicle_cmd_converter")
+            package_path = get_package_share_directory("autoware_raw_vehicle_cmd_converter")
             self.declare_parameter(
                 "/accel_brake_map_calibrator/csv_default_map_dir", package_path + "/data/default/"
             )
diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/CMakeLists.txt b/vehicle/autoware_raw_vehicle_cmd_converter/CMakeLists.txt
new file mode 100644
index 0000000000000..fc54b302512fa
--- /dev/null
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/CMakeLists.txt
@@ -0,0 +1,44 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_raw_vehicle_cmd_converter)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(actuation_map_converter SHARED
+  src/accel_map.cpp
+  src/brake_map.cpp
+  src/steer_map.cpp
+  src/csv_loader.cpp
+  src/pid.cpp
+)
+
+ament_auto_add_library(autoware_raw_vehicle_cmd_converter_node_component SHARED
+  src/node.cpp
+)
+
+target_link_libraries(autoware_raw_vehicle_cmd_converter_node_component actuation_map_converter)
+
+rclcpp_components_register_node(autoware_raw_vehicle_cmd_converter_node_component
+  PLUGIN "autoware::raw_vehicle_cmd_converter::RawVehicleCommandConverterNode"
+  EXECUTABLE autoware_raw_vehicle_cmd_converter_node
+)
+
+if(BUILD_TESTING)
+  set(TEST_SOURCES
+    test/test_autoware_raw_vehicle_cmd_converter.cpp
+  )
+  set(TEST_RAW_VEHICLE_CMD_CONVERTER_EXE test_autoware_raw_vehicle_cmd_converter)
+  ament_add_ros_isolated_gtest(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} ${TEST_SOURCES})
+  target_link_libraries(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} actuation_map_converter autoware_raw_vehicle_cmd_converter_node_component)
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  config
+  data
+  launch
+  test
+)
+
+install(PROGRAMS scripts/plot_accel_brake_map.py
+  DESTINATION lib/${PROJECT_NAME}
+)
diff --git a/vehicle/raw_vehicle_cmd_converter/README.md b/vehicle/autoware_raw_vehicle_cmd_converter/README.md
similarity index 95%
rename from vehicle/raw_vehicle_cmd_converter/README.md
rename to vehicle/autoware_raw_vehicle_cmd_converter/README.md
index 6ac1ee4666cae..c204346d9d834 100644
--- a/vehicle/raw_vehicle_cmd_converter/README.md
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/README.md
@@ -1,4 +1,4 @@
-# raw_vehicle_cmd_converter
+# autoware_raw_vehicle_cmd_converter
 
 ## Overview
 
@@ -40,7 +40,7 @@ For ease of calibration and adjustments to the lookup table, an auto-calibration
 
 ## Parameters
 
-{{ json_to_markdown("vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json") }}
+{{ json_to_markdown("vehicle/autoware_raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json") }}
 
 ## Limitation
 
diff --git a/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml b/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml
similarity index 61%
rename from vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml
rename to vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml
index bce50a0b581c7..b53b0d7622198 100644
--- a/vehicle/raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml
@@ -1,8 +1,8 @@
 /**:
   ros__parameters:
-    csv_path_accel_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv
-    csv_path_brake_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv
-    csv_path_steer_map: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv
+    csv_path_accel_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/accel_map.csv
+    csv_path_brake_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/brake_map.csv
+    csv_path_steer_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/steer_map.csv
     convert_accel_cmd: true
     convert_brake_cmd: true
     convert_steer_cmd: true
diff --git a/vehicle/raw_vehicle_cmd_converter/data/default/accel_map.csv b/vehicle/autoware_raw_vehicle_cmd_converter/data/default/accel_map.csv
similarity index 100%
rename from vehicle/raw_vehicle_cmd_converter/data/default/accel_map.csv
rename to vehicle/autoware_raw_vehicle_cmd_converter/data/default/accel_map.csv
diff --git a/vehicle/raw_vehicle_cmd_converter/data/default/brake_map.csv b/vehicle/autoware_raw_vehicle_cmd_converter/data/default/brake_map.csv
similarity index 100%
rename from vehicle/raw_vehicle_cmd_converter/data/default/brake_map.csv
rename to vehicle/autoware_raw_vehicle_cmd_converter/data/default/brake_map.csv
diff --git a/vehicle/raw_vehicle_cmd_converter/data/default/steer_map.csv b/vehicle/autoware_raw_vehicle_cmd_converter/data/default/steer_map.csv
similarity index 100%
rename from vehicle/raw_vehicle_cmd_converter/data/default/steer_map.csv
rename to vehicle/autoware_raw_vehicle_cmd_converter/data/default/steer_map.csv
diff --git a/vehicle/raw_vehicle_cmd_converter/figure/accel-brake-map-table.png b/vehicle/autoware_raw_vehicle_cmd_converter/figure/accel-brake-map-table.png
similarity index 100%
rename from vehicle/raw_vehicle_cmd_converter/figure/accel-brake-map-table.png
rename to vehicle/autoware_raw_vehicle_cmd_converter/figure/accel-brake-map-table.png
diff --git a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/accel_map.hpp b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/accel_map.hpp
similarity index 75%
rename from vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/accel_map.hpp
rename to vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/accel_map.hpp
index 3bdb71a11f744..90cc4d15fd33e 100644
--- a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/accel_map.hpp
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/accel_map.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RAW_VEHICLE_CMD_CONVERTER__ACCEL_MAP_HPP_
-#define RAW_VEHICLE_CMD_CONVERTER__ACCEL_MAP_HPP_
+#ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__ACCEL_MAP_HPP_
+#define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__ACCEL_MAP_HPP_
 
-#include "raw_vehicle_cmd_converter/csv_loader.hpp"
+#include "autoware_raw_vehicle_cmd_converter/csv_loader.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -24,7 +24,7 @@
 #include <string>
 #include <vector>
 
-namespace raw_vehicle_cmd_converter
+namespace autoware::raw_vehicle_cmd_converter
 {
 class AccelMap
 {
@@ -37,13 +37,14 @@ class AccelMap
   std::vector<std::vector<double>> getAccelMap() const { return accel_map_; }
 
 private:
-  rclcpp::Logger logger_{rclcpp::get_logger("raw_vehicle_cmd_converter").get_child("accel_map")};
+  rclcpp::Logger logger_{
+    rclcpp::get_logger("autoware_raw_vehicle_cmd_converter").get_child("accel_map")};
   rclcpp::Clock clock_{RCL_ROS_TIME};
   std::string vehicle_name_;
   std::vector<double> vel_index_;
   std::vector<double> throttle_index_;
   std::vector<std::vector<double>> accel_map_;
 };
-}  // namespace raw_vehicle_cmd_converter
+}  // namespace autoware::raw_vehicle_cmd_converter
 
-#endif  // RAW_VEHICLE_CMD_CONVERTER__ACCEL_MAP_HPP_
+#endif  // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__ACCEL_MAP_HPP_
diff --git a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/brake_map.hpp b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/brake_map.hpp
similarity index 75%
rename from vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/brake_map.hpp
rename to vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/brake_map.hpp
index 6dd5ab94c5d06..dfc5e99bfa988 100644
--- a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/brake_map.hpp
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/brake_map.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RAW_VEHICLE_CMD_CONVERTER__BRAKE_MAP_HPP_
-#define RAW_VEHICLE_CMD_CONVERTER__BRAKE_MAP_HPP_
+#ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__BRAKE_MAP_HPP_
+#define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__BRAKE_MAP_HPP_
 
-#include "raw_vehicle_cmd_converter/csv_loader.hpp"
+#include "autoware_raw_vehicle_cmd_converter/csv_loader.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -24,7 +24,7 @@
 #include <string>
 #include <vector>
 
-namespace raw_vehicle_cmd_converter
+namespace autoware::raw_vehicle_cmd_converter
 {
 class BrakeMap
 {
@@ -37,7 +37,8 @@ class BrakeMap
   std::vector<std::vector<double>> getBrakeMap() const { return brake_map_; }
 
 private:
-  rclcpp::Logger logger_{rclcpp::get_logger("raw_vehicle_cmd_converter").get_child("accel_map")};
+  rclcpp::Logger logger_{
+    rclcpp::get_logger("autoware_raw_vehicle_cmd_converter").get_child("accel_map")};
   rclcpp::Clock clock_{RCL_ROS_TIME};
   std::string vehicle_name_;
   std::vector<double> vel_index_;
@@ -45,6 +46,6 @@ class BrakeMap
   std::vector<double> brake_index_rev_;
   std::vector<std::vector<double>> brake_map_;
 };
-}  // namespace raw_vehicle_cmd_converter
+}  // namespace autoware::raw_vehicle_cmd_converter
 
-#endif  // RAW_VEHICLE_CMD_CONVERTER__BRAKE_MAP_HPP_
+#endif  // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__BRAKE_MAP_HPP_
diff --git a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/csv_loader.hpp b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/csv_loader.hpp
similarity index 83%
rename from vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/csv_loader.hpp
rename to vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/csv_loader.hpp
index ee89e03780b0b..44ba5ac571242 100644
--- a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/csv_loader.hpp
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/csv_loader.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RAW_VEHICLE_CMD_CONVERTER__CSV_LOADER_HPP_
-#define RAW_VEHICLE_CMD_CONVERTER__CSV_LOADER_HPP_
+#ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__CSV_LOADER_HPP_
+#define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__CSV_LOADER_HPP_
 
 #include <fstream>
 #include <iostream>
@@ -21,7 +21,7 @@
 #include <string>
 #include <vector>
 
-namespace raw_vehicle_cmd_converter
+namespace autoware::raw_vehicle_cmd_converter
 {
 using Table = std::vector<std::vector<std::string>>;
 using Map = std::vector<std::vector<double>>;
@@ -42,6 +42,6 @@ class CSVLoader
 private:
   std::string csv_path_;
 };
-}  // namespace raw_vehicle_cmd_converter
+}  // namespace autoware::raw_vehicle_cmd_converter
 
-#endif  // RAW_VEHICLE_CMD_CONVERTER__CSV_LOADER_HPP_
+#endif  // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__CSV_LOADER_HPP_
diff --git a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/node.hpp b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp
similarity index 89%
rename from vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/node.hpp
rename to vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp
index d71ff96abade0..9b64c26770e40 100644
--- a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/node.hpp
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp
@@ -12,13 +12,13 @@
 //  See the License for the specific language governing permissions and
 //  limitations under the License.
 
-#ifndef RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_
-#define RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_
+#ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_
+#define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_
 
-#include "raw_vehicle_cmd_converter/accel_map.hpp"
-#include "raw_vehicle_cmd_converter/brake_map.hpp"
-#include "raw_vehicle_cmd_converter/pid.hpp"
-#include "raw_vehicle_cmd_converter/steer_map.hpp"
+#include "autoware_raw_vehicle_cmd_converter/accel_map.hpp"
+#include "autoware_raw_vehicle_cmd_converter/brake_map.hpp"
+#include "autoware_raw_vehicle_cmd_converter/pid.hpp"
+#include "autoware_raw_vehicle_cmd_converter/steer_map.hpp"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 
 #include <rclcpp/rclcpp.hpp>
@@ -34,7 +34,7 @@
 #include <string>
 #include <vector>
 
-namespace raw_vehicle_cmd_converter
+namespace autoware::raw_vehicle_cmd_converter
 {
 using Control = autoware_control_msgs::msg::Control;
 using tier4_debug_msgs::msg::Float32MultiArrayStamped;
@@ -119,6 +119,6 @@ class RawVehicleCommandConverterNode : public rclcpp::Node
 
   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
 };
-}  // namespace raw_vehicle_cmd_converter
+}  // namespace autoware::raw_vehicle_cmd_converter
 
-#endif  // RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_
+#endif  // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_
diff --git a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/pid.hpp b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/pid.hpp
similarity index 78%
rename from vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/pid.hpp
rename to vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/pid.hpp
index c13de9b332fa3..e9fc0f13d1fc8 100644
--- a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/pid.hpp
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/pid.hpp
@@ -12,14 +12,14 @@
 //  See the License for the specific language governing permissions and
 //  limitations under the License.
 
-#ifndef RAW_VEHICLE_CMD_CONVERTER__PID_HPP_
-#define RAW_VEHICLE_CMD_CONVERTER__PID_HPP_
+#ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__PID_HPP_
+#define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__PID_HPP_
 
 #include <algorithm>
 #include <iostream>
 #include <vector>
 
-namespace raw_vehicle_cmd_converter
+namespace autoware::raw_vehicle_cmd_converter
 {
 class PIDController
 {
@@ -42,17 +42,17 @@ class PIDController
 
 private:
   // parameters
-  double kp_;
-  double ki_;
-  double kd_;
-  double max_ret_p_;
-  double min_ret_p_;
-  double max_ret_i_;
-  double min_ret_i_;
-  double max_ret_d_;
-  double min_ret_d_;
-  double max_ret_;
-  double min_ret_;
+  double kp_{};
+  double ki_{};
+  double kd_{};
+  double max_ret_p_{};
+  double min_ret_p_{};
+  double max_ret_i_{};
+  double min_ret_i_{};
+  double max_ret_d_{};
+  double min_ret_d_{};
+  double max_ret_{};
+  double min_ret_{};
   // states
   double error_integral_{0.0};
   double prev_error_{0.0};
@@ -60,6 +60,6 @@ class PIDController
   double invalid_integration_decay_{0.0};
   double is_initialized_{false};
 };
-}  // namespace raw_vehicle_cmd_converter
+}  // namespace autoware::raw_vehicle_cmd_converter
 
-#endif  // RAW_VEHICLE_CMD_CONVERTER__PID_HPP_
+#endif  // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__PID_HPP_
diff --git a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/steer_map.hpp b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/steer_map.hpp
similarity index 67%
rename from vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/steer_map.hpp
rename to vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/steer_map.hpp
index 7e4a3084d0223..d41bb676ffb47 100644
--- a/vehicle/raw_vehicle_cmd_converter/include/raw_vehicle_cmd_converter/steer_map.hpp
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/steer_map.hpp
@@ -12,18 +12,18 @@
 //  See the License for the specific language governing permissions and
 //  limitations under the License.
 
-#ifndef RAW_VEHICLE_CMD_CONVERTER__STEER_MAP_HPP_
-#define RAW_VEHICLE_CMD_CONVERTER__STEER_MAP_HPP_
+#ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__STEER_MAP_HPP_
+#define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__STEER_MAP_HPP_
 
-#include "raw_vehicle_cmd_converter/csv_loader.hpp"
-#include "raw_vehicle_cmd_converter/pid.hpp"
+#include "autoware_raw_vehicle_cmd_converter/csv_loader.hpp"
+#include "autoware_raw_vehicle_cmd_converter/pid.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
 #include <string>
 #include <vector>
 
-namespace raw_vehicle_cmd_converter
+namespace autoware::raw_vehicle_cmd_converter
 {
 class SteerMap
 {
@@ -36,8 +36,9 @@ class SteerMap
   std::vector<double> steer_index_;
   std::vector<double> output_index_;
   std::vector<std::vector<double>> steer_map_;
-  rclcpp::Logger logger_{rclcpp::get_logger("raw_vehicle_cmd_converter").get_child("steer_map")};
+  rclcpp::Logger logger_{
+    rclcpp::get_logger("autoware_raw_vehicle_cmd_converter").get_child("steer_map")};
 };
-}  // namespace raw_vehicle_cmd_converter
+}  // namespace autoware::raw_vehicle_cmd_converter
 
-#endif  // RAW_VEHICLE_CMD_CONVERTER__STEER_MAP_HPP_
+#endif  // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__STEER_MAP_HPP_
diff --git a/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml b/vehicle/autoware_raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml
similarity index 71%
rename from vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml
rename to vehicle/autoware_raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml
index 0a9962a7c2a30..735d51e80d5d4 100644
--- a/vehicle/raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml
@@ -5,9 +5,9 @@
   <arg name="input_steering" default="/vehicle/status/steering_status"/>
   <arg name="output_actuation_cmd" default="/control/command/actuation_cmd"/>
   <!-- Parameter -->
-  <arg name="config_file" default="$(find-pkg-share raw_vehicle_cmd_converter)/config/raw_vehicle_cmd_converter.param.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share autoware_raw_vehicle_cmd_converter)/config/raw_vehicle_cmd_converter.param.yaml"/>
 
-  <node pkg="raw_vehicle_cmd_converter" exec="raw_vehicle_cmd_converter_node" name="raw_vehicle_cmd_converter" output="screen">
+  <node pkg="autoware_raw_vehicle_cmd_converter" exec="autoware_raw_vehicle_cmd_converter_node" name="raw_vehicle_cmd_converter" output="screen">
     <param from="$(var config_file)" allow_substs="true"/>
     <remap from="~/input/control_cmd" to="$(var input_control_cmd)"/>
     <remap from="~/input/odometry" to="$(var input_odometry)"/>
diff --git a/vehicle/raw_vehicle_cmd_converter/package.xml b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml
similarity index 91%
rename from vehicle/raw_vehicle_cmd_converter/package.xml
rename to vehicle/autoware_raw_vehicle_cmd_converter/package.xml
index 376a5c74f1cb6..25a329be3a6b9 100644
--- a/vehicle/raw_vehicle_cmd_converter/package.xml
+++ b/vehicle/autoware_raw_vehicle_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>raw_vehicle_cmd_converter</name>
+  <name>autoware_raw_vehicle_cmd_converter</name>
   <version>0.1.0</version>
-  <description>The raw_vehicle_cmd_converter package</description>
+  <description>The autoware_raw_vehicle_cmd_converter package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="taiki.tanaka@tier4.jp">Tanaka Taiki</maintainer>
   <maintainer email="makoto.kurihara@tier4.jp">Makoto Kurihara</maintainer>
diff --git a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json b/vehicle/autoware_raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
similarity index 92%
rename from vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
rename to vehicle/autoware_raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
index 4b562f401e09b..1903f8252d656 100644
--- a/vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
@@ -3,23 +3,23 @@
   "title": "Parameters for Raw Vehicle Cmd Converter",
   "type": "object",
   "definitions": {
-    "raw_vehicle_cmd_converter": {
+    "autoware_raw_vehicle_cmd_converter": {
       "type": "object",
       "properties": {
         "csv_path_accel_map": {
           "type": "string",
           "description": "path for acceleration map csv file",
-          "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv"
+          "default": "$(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/accel_map.csv"
         },
         "csv_path_brake_map": {
           "type": "string",
           "description": "path for brake map csv file",
-          "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv"
+          "default": "$(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/brake_map.csv"
         },
         "csv_path_steer_map": {
           "type": "string",
           "description": "path for steer map csv file",
-          "default": "$(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv"
+          "default": "$(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/steer_map.csv"
         },
         "convert_accel_cmd": {
           "type": "boolean",
@@ -178,7 +178,7 @@
       "type": "object",
       "properties": {
         "ros__parameters": {
-          "$ref": "#/definitions/raw_vehicle_cmd_converter"
+          "$ref": "#/definitions/autoware_raw_vehicle_cmd_converter"
         }
       },
       "required": ["ros__parameters"]
diff --git a/vehicle/raw_vehicle_cmd_converter/scripts/plot_accel_brake_map.py b/vehicle/autoware_raw_vehicle_cmd_converter/scripts/plot_accel_brake_map.py
similarity index 97%
rename from vehicle/raw_vehicle_cmd_converter/scripts/plot_accel_brake_map.py
rename to vehicle/autoware_raw_vehicle_cmd_converter/scripts/plot_accel_brake_map.py
index 62979fce89bcf..95b2271239f8f 100755
--- a/vehicle/raw_vehicle_cmd_converter/scripts/plot_accel_brake_map.py
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/scripts/plot_accel_brake_map.py
@@ -23,7 +23,7 @@
 
 def main(dimension, map_dir, accel_or_brake):
     if map_dir is None:
-        script_dir = get_package_share_directory("raw_vehicle_cmd_converter")
+        script_dir = get_package_share_directory("autoware_raw_vehicle_cmd_converter")
         csv_dir = script_dir + "/data/default"
     else:
         csv_dir = map_dir
diff --git a/vehicle/raw_vehicle_cmd_converter/src/accel_map.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/accel_map.cpp
similarity index 95%
rename from vehicle/raw_vehicle_cmd_converter/src/accel_map.cpp
rename to vehicle/autoware_raw_vehicle_cmd_converter/src/accel_map.cpp
index 42c63b152e4f4..236aa7dc451c3 100644
--- a/vehicle/raw_vehicle_cmd_converter/src/accel_map.cpp
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/accel_map.cpp
@@ -12,7 +12,7 @@
 //  See the License for the specific language governing permissions and
 //  limitations under the License.
 
-#include "raw_vehicle_cmd_converter/accel_map.hpp"
+#include "autoware_raw_vehicle_cmd_converter/accel_map.hpp"
 
 #include "interpolation/linear_interpolation.hpp"
 
@@ -23,7 +23,7 @@
 
 using namespace std::literals::chrono_literals;
 
-namespace raw_vehicle_cmd_converter
+namespace autoware::raw_vehicle_cmd_converter
 {
 bool AccelMap::readAccelMapFromCSV(const std::string & csv_path, const bool validation)
 {
@@ -83,4 +83,4 @@ bool AccelMap::getAcceleration(const double throttle, const double vel, double &
 
   return true;
 }
-}  // namespace raw_vehicle_cmd_converter
+}  // namespace autoware::raw_vehicle_cmd_converter
diff --git a/vehicle/raw_vehicle_cmd_converter/src/brake_map.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/brake_map.cpp
similarity index 95%
rename from vehicle/raw_vehicle_cmd_converter/src/brake_map.cpp
rename to vehicle/autoware_raw_vehicle_cmd_converter/src/brake_map.cpp
index 68d89474f3ca6..ae0f8e5f41b1c 100644
--- a/vehicle/raw_vehicle_cmd_converter/src/brake_map.cpp
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/brake_map.cpp
@@ -12,7 +12,7 @@
 //  See the License for the specific language governing permissions and
 //  limitations under the License.
 
-#include "raw_vehicle_cmd_converter/brake_map.hpp"
+#include "autoware_raw_vehicle_cmd_converter/brake_map.hpp"
 
 #include "interpolation/linear_interpolation.hpp"
 
@@ -20,7 +20,7 @@
 #include <string>
 #include <vector>
 
-namespace raw_vehicle_cmd_converter
+namespace autoware::raw_vehicle_cmd_converter
 {
 bool BrakeMap::readBrakeMapFromCSV(const std::string & csv_path, const bool validation)
 {
@@ -94,4 +94,4 @@ bool BrakeMap::getAcceleration(const double brake, const double vel, double & ac
 
   return true;
 }
-}  // namespace raw_vehicle_cmd_converter
+}  // namespace autoware::raw_vehicle_cmd_converter
diff --git a/vehicle/raw_vehicle_cmd_converter/src/csv_loader.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/csv_loader.cpp
similarity index 96%
rename from vehicle/raw_vehicle_cmd_converter/src/csv_loader.cpp
rename to vehicle/autoware_raw_vehicle_cmd_converter/src/csv_loader.cpp
index a6a331a0e7324..8044a88bc9898 100644
--- a/vehicle/raw_vehicle_cmd_converter/src/csv_loader.cpp
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/csv_loader.cpp
@@ -12,14 +12,14 @@
 //  See the License for the specific language governing permissions and
 //  limitations under the License.
 
-#include "raw_vehicle_cmd_converter/csv_loader.hpp"
+#include "autoware_raw_vehicle_cmd_converter/csv_loader.hpp"
 
 #include <algorithm>
 #include <stdexcept>
 #include <string>
 #include <vector>
 
-namespace raw_vehicle_cmd_converter
+namespace autoware::raw_vehicle_cmd_converter
 {
 CSVLoader::CSVLoader(const std::string & csv_path)
 {
@@ -150,4 +150,4 @@ double CSVLoader::clampValue(
   return val;
 }
 
-}  // namespace raw_vehicle_cmd_converter
+}  // namespace autoware::raw_vehicle_cmd_converter
diff --git a/vehicle/raw_vehicle_cmd_converter/src/node.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp
similarity index 96%
rename from vehicle/raw_vehicle_cmd_converter/src/node.cpp
rename to vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp
index 91c668f63dfbd..044d698e8b9fc 100644
--- a/vehicle/raw_vehicle_cmd_converter/src/node.cpp
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp
@@ -12,18 +12,18 @@
 //  See the License for the specific language governing permissions and
 //  limitations under the License.
 
-#include "raw_vehicle_cmd_converter/node.hpp"
+#include "autoware_raw_vehicle_cmd_converter/node.hpp"
 
 #include <algorithm>
 #include <stdexcept>
 #include <string>
 #include <vector>
 
-namespace raw_vehicle_cmd_converter
+namespace autoware::raw_vehicle_cmd_converter
 {
 RawVehicleCommandConverterNode::RawVehicleCommandConverterNode(
   const rclcpp::NodeOptions & node_options)
-: Node("raw_vehicle_cmd_converter_node", node_options)
+: Node("autoware_raw_vehicle_cmd_converter_node", node_options)
 {
   using std::placeholders::_1;
   /* parameters for accel/brake map */
@@ -221,7 +221,7 @@ void RawVehicleCommandConverterNode::onControlCmd(const Control::ConstSharedPtr
   control_cmd_ptr_ = msg;
   publishActuationCmd();
 }
-}  // namespace raw_vehicle_cmd_converter
+}  // namespace autoware::raw_vehicle_cmd_converter
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(raw_vehicle_cmd_converter::RawVehicleCommandConverterNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::raw_vehicle_cmd_converter::RawVehicleCommandConverterNode)
diff --git a/vehicle/raw_vehicle_cmd_converter/src/pid.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/pid.cpp
similarity index 95%
rename from vehicle/raw_vehicle_cmd_converter/src/pid.cpp
rename to vehicle/autoware_raw_vehicle_cmd_converter/src/pid.cpp
index 216382be3dc81..ebc608cd61fad 100644
--- a/vehicle/raw_vehicle_cmd_converter/src/pid.cpp
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/pid.cpp
@@ -12,12 +12,12 @@
 //  See the License for the specific language governing permissions and
 //  limitations under the License.
 
-#include "raw_vehicle_cmd_converter/pid.hpp"
+#include "autoware_raw_vehicle_cmd_converter/pid.hpp"
 
 #include <algorithm>
 #include <vector>
 
-namespace raw_vehicle_cmd_converter
+namespace autoware::raw_vehicle_cmd_converter
 {
 
 double PIDController::calculateFB(
@@ -100,4 +100,4 @@ void PIDController::reset()
   prev_error_ = 0;
   is_first_time_ = true;
 }
-}  // namespace raw_vehicle_cmd_converter
+}  // namespace autoware::raw_vehicle_cmd_converter
diff --git a/vehicle/raw_vehicle_cmd_converter/src/steer_map.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/steer_map.cpp
similarity index 91%
rename from vehicle/raw_vehicle_cmd_converter/src/steer_map.cpp
rename to vehicle/autoware_raw_vehicle_cmd_converter/src/steer_map.cpp
index e050a1beba3ae..6abe8adfdc9e3 100644
--- a/vehicle/raw_vehicle_cmd_converter/src/steer_map.cpp
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/steer_map.cpp
@@ -12,14 +12,14 @@
 //  See the License for the specific language governing permissions and
 //  limitations under the License.
 
-#include "raw_vehicle_cmd_converter/steer_map.hpp"
+#include "autoware_raw_vehicle_cmd_converter/steer_map.hpp"
 
 #include "interpolation/linear_interpolation.hpp"
 
 #include <string>
 #include <vector>
 
-namespace raw_vehicle_cmd_converter
+namespace autoware::raw_vehicle_cmd_converter
 {
 
 bool SteerMap::readSteerMapFromCSV(const std::string & csv_path, const bool validation)
@@ -53,4 +53,4 @@ void SteerMap::getSteer(const double steer_rate, const double steer, double & ou
     CSVLoader::clampValue(steer_rate, steer_rate_interp, "steer: steer_rate");
   output = interpolation::lerp(steer_rate_interp, output_index_, clamped_steer_rate);
 }
-}  // namespace raw_vehicle_cmd_converter
+}  // namespace autoware::raw_vehicle_cmd_converter
diff --git a/vehicle/raw_vehicle_cmd_converter/test/map_data/test_1col_map.csv b/vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_1col_map.csv
similarity index 100%
rename from vehicle/raw_vehicle_cmd_converter/test/map_data/test_1col_map.csv
rename to vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_1col_map.csv
diff --git a/vehicle/raw_vehicle_cmd_converter/test/map_data/test_accel_map.csv b/vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_accel_map.csv
similarity index 100%
rename from vehicle/raw_vehicle_cmd_converter/test/map_data/test_accel_map.csv
rename to vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_accel_map.csv
diff --git a/vehicle/raw_vehicle_cmd_converter/test/map_data/test_brake_map.csv b/vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_brake_map.csv
similarity index 100%
rename from vehicle/raw_vehicle_cmd_converter/test/map_data/test_brake_map.csv
rename to vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_brake_map.csv
diff --git a/vehicle/raw_vehicle_cmd_converter/test/map_data/test_inconsistent_rows_map.csv b/vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_inconsistent_rows_map.csv
similarity index 100%
rename from vehicle/raw_vehicle_cmd_converter/test/map_data/test_inconsistent_rows_map.csv
rename to vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_inconsistent_rows_map.csv
diff --git a/vehicle/raw_vehicle_cmd_converter/test/map_data/test_not_interpolatable.csv b/vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_not_interpolatable.csv
similarity index 100%
rename from vehicle/raw_vehicle_cmd_converter/test/map_data/test_not_interpolatable.csv
rename to vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_not_interpolatable.csv
diff --git a/vehicle/raw_vehicle_cmd_converter/test/map_data/test_steer_map.csv b/vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_steer_map.csv
similarity index 100%
rename from vehicle/raw_vehicle_cmd_converter/test/map_data/test_steer_map.csv
rename to vehicle/autoware_raw_vehicle_cmd_converter/test/map_data/test_steer_map.csv
diff --git a/vehicle/raw_vehicle_cmd_converter/test/test_raw_vehicle_cmd_converter.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp
similarity index 92%
rename from vehicle/raw_vehicle_cmd_converter/test/test_raw_vehicle_cmd_converter.cpp
rename to vehicle/autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp
index 9f035b303e1a9..746f872789b07 100644
--- a/vehicle/raw_vehicle_cmd_converter/test/test_raw_vehicle_cmd_converter.cpp
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp
@@ -13,11 +13,11 @@
 // limitations under the License.
 
 #include "ament_index_cpp/get_package_share_directory.hpp"
+#include "autoware_raw_vehicle_cmd_converter/accel_map.hpp"
+#include "autoware_raw_vehicle_cmd_converter/brake_map.hpp"
+#include "autoware_raw_vehicle_cmd_converter/pid.hpp"
+#include "autoware_raw_vehicle_cmd_converter/steer_map.hpp"
 #include "gtest/gtest.h"
-#include "raw_vehicle_cmd_converter/accel_map.hpp"
-#include "raw_vehicle_cmd_converter/brake_map.hpp"
-#include "raw_vehicle_cmd_converter/pid.hpp"
-#include "raw_vehicle_cmd_converter/steer_map.hpp"
 
 #include <cmath>
 #include <stdexcept>
@@ -48,14 +48,15 @@
  *
  */
 
-using raw_vehicle_cmd_converter::AccelMap;
-using raw_vehicle_cmd_converter::BrakeMap;
-using raw_vehicle_cmd_converter::PIDController;
-using raw_vehicle_cmd_converter::SteerMap;
+using autoware::raw_vehicle_cmd_converter::AccelMap;
+using autoware::raw_vehicle_cmd_converter::BrakeMap;
+using autoware::raw_vehicle_cmd_converter::PIDController;
+using autoware::raw_vehicle_cmd_converter::SteerMap;
 double epsilon = 1e-4;
 // may throw PackageNotFoundError exception for invalid package
 const auto map_path =
-  ament_index_cpp::get_package_share_directory("raw_vehicle_cmd_converter") + "/test/map_data/";
+  ament_index_cpp::get_package_share_directory("autoware_raw_vehicle_cmd_converter") +
+  "/test/map_data/";
 
 bool loadAccelMapData(AccelMap & accel_map)
 {
@@ -93,7 +94,8 @@ TEST(ConverterTests, LoadExampleMap)
   BrakeMap brake_map;
   SteerMap steer_map;
   const auto data_path =
-    ament_index_cpp::get_package_share_directory("raw_vehicle_cmd_converter") + "/data/default/";
+    ament_index_cpp::get_package_share_directory("autoware_raw_vehicle_cmd_converter") +
+    "/data/default/";
   // for invalid path
   EXPECT_TRUE(accel_map.readAccelMapFromCSV(data_path + "accel_map.csv", true));
   EXPECT_TRUE(brake_map.readBrakeMapFromCSV(data_path + "brake_map.csv", true));
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 5fb1f5efc38fd..b491cb3db5484 100644
--- a/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp
+++ b/vehicle/external_cmd_converter/include/external_cmd_converter/node.hpp
@@ -17,9 +17,9 @@
 
 #include "tier4_autoware_utils/ros/polling_subscriber.hpp"
 
+#include <autoware_raw_vehicle_cmd_converter/accel_map.hpp>
+#include <autoware_raw_vehicle_cmd_converter/brake_map.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
-#include <raw_vehicle_cmd_converter/accel_map.hpp>
-#include <raw_vehicle_cmd_converter/brake_map.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_control_msgs/msg/control.hpp>
@@ -37,9 +37,9 @@ namespace external_cmd_converter
 using GearCommand = autoware_vehicle_msgs::msg::GearCommand;
 using autoware_control_msgs::msg::Control;
 using ExternalControlCommand = tier4_external_api_msgs::msg::ControlCommandStamped;
+using autoware::raw_vehicle_cmd_converter::AccelMap;
+using autoware::raw_vehicle_cmd_converter::BrakeMap;
 using nav_msgs::msg::Odometry;
-using raw_vehicle_cmd_converter::AccelMap;
-using raw_vehicle_cmd_converter::BrakeMap;
 using tier4_control_msgs::msg::GateMode;
 
 class ExternalCmdConverterNode : public rclcpp::Node
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..e3f5ec20e6165 100644
--- a/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.py
+++ b/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.py
@@ -33,7 +33,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "csv_path_accel_map",
             default_value=[
-                FindPackageShare("raw_vehicle_cmd_converter"),
+                FindPackageShare("autoware_raw_vehicle_cmd_converter"),
                 "/data/default/accel_map.csv",
             ],  # noqa: E501
             description="csv file path for accel map",
@@ -41,7 +41,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "csv_path_brake_map",
             default_value=[
-                FindPackageShare("raw_vehicle_cmd_converter"),
+                FindPackageShare("autoware_raw_vehicle_cmd_converter"),
                 "/data/default/brake_map.csv",
             ],  # noqa: E501
             description="csv file path for brake map",
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..b2ac46297b044 100644
--- a/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml
+++ b/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml
@@ -2,8 +2,8 @@
 <launch>
   <arg name="external_cmd_converter_param" default="$(find-pkg-share external_cmd_converter)/config/external_cmd_converter.param.yaml"/>
   <!-- map file -->
-  <arg name="csv_path_accel_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv"/>
-  <arg name="csv_path_brake_map" default="$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv"/>
+  <arg name="csv_path_accel_map" default="$(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/accel_map.csv"/>
+  <arg name="csv_path_brake_map" default="$(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/brake_map.csv"/>
 
   <!-- settings -->
   <arg name="ref_vel_gain" default="3.0"/>
diff --git a/vehicle/external_cmd_converter/package.xml b/vehicle/external_cmd_converter/package.xml
index 72b0eb2706a3a..5627616971e26 100644
--- a/vehicle/external_cmd_converter/package.xml
+++ b/vehicle/external_cmd_converter/package.xml
@@ -14,11 +14,11 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_raw_vehicle_cmd_converter</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
-  <depend>raw_vehicle_cmd_converter</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
diff --git a/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt b/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt
deleted file mode 100644
index d253b2315465e..0000000000000
--- a/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt
+++ /dev/null
@@ -1,44 +0,0 @@
-cmake_minimum_required(VERSION 3.14)
-project(raw_vehicle_cmd_converter)
-
-find_package(autoware_cmake REQUIRED)
-autoware_package()
-
-ament_auto_add_library(actuation_map_converter SHARED
-  src/accel_map.cpp
-  src/brake_map.cpp
-  src/steer_map.cpp
-  src/csv_loader.cpp
-  src/pid.cpp
-)
-
-ament_auto_add_library(raw_vehicle_cmd_converter_node_component SHARED
-  src/node.cpp
-)
-
-target_link_libraries(raw_vehicle_cmd_converter_node_component actuation_map_converter)
-
-rclcpp_components_register_node(raw_vehicle_cmd_converter_node_component
-  PLUGIN "raw_vehicle_cmd_converter::RawVehicleCommandConverterNode"
-  EXECUTABLE raw_vehicle_cmd_converter_node
-)
-
-if(BUILD_TESTING)
-  set(TEST_SOURCES
-    test/test_raw_vehicle_cmd_converter.cpp
-  )
-  set(TEST_RAW_VEHICLE_CMD_CONVERTER_EXE test_raw_vehicle_cmd_converter)
-  ament_add_ros_isolated_gtest(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} ${TEST_SOURCES})
-  target_link_libraries(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} actuation_map_converter raw_vehicle_cmd_converter_node_component)
-endif()
-
-ament_auto_package(INSTALL_TO_SHARE
-  config
-  data
-  launch
-  test
-)
-
-install(PROGRAMS scripts/plot_accel_brake_map.py
-  DESTINATION lib/${PROJECT_NAME}
-)