diff --git a/perception/object_merger/CMakeLists.txt b/perception/object_merger/CMakeLists.txt
index b02983db11af3..2d9b490945caf 100644
--- a/perception/object_merger/CMakeLists.txt
+++ b/perception/object_merger/CMakeLists.txt
@@ -18,18 +18,18 @@ include_directories(
     ${EIGEN3_INCLUDE_DIR}
 )
 
-ament_auto_add_library(object_association_merger SHARED
-  src/object_association_merger/data_association/data_association.cpp
-  src/object_association_merger/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
-  src/object_association_merger/node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/association/data_association.cpp
+  src/association/solver/mu_successive_shortest_path_wrapper.cpp
+  src/object_association_merger_node.cpp
 )
 
-target_link_libraries(object_association_merger
+target_link_libraries(${PROJECT_NAME}
   Eigen3::Eigen
 )
 
-rclcpp_components_register_node(object_association_merger
-  PLUGIN "object_association::ObjectAssociationMergerNode"
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::object_merger::ObjectAssociationMergerNode"
   EXECUTABLE object_association_merger_node
 )
 
diff --git a/perception/object_merger/include/object_merger/data_association/data_association.hpp b/perception/object_merger/include/autoware_object_merger/association/data_association.hpp
similarity index 75%
rename from perception/object_merger/include/object_merger/data_association/data_association.hpp
rename to perception/object_merger/include/autoware_object_merger/association/data_association.hpp
index f8eec33f4a71e..8433e8f7af537 100644
--- a/perception/object_merger/include/object_merger/data_association/data_association.hpp
+++ b/perception/object_merger/include/autoware_object_merger/association/data_association.hpp
@@ -16,21 +16,25 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef OBJECT_MERGER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_
-#define OBJECT_MERGER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_
-
-#include <list>
-#include <memory>
-#include <unordered_map>
-#include <vector>
+#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
+#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
 
 #define EIGEN_MPL2_ONLY
-#include "object_merger/data_association/solver/gnn_solver.hpp"
+
+#include "autoware_object_merger/association/solver/gnn_solver.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
-#include <autoware_perception_msgs/msg/detected_objects.hpp>
+#include "autoware_perception_msgs/msg/detected_objects.hpp"
+
+#include <list>
+#include <memory>
+#include <unordered_map>
+#include <vector>
+
+namespace autoware::object_merger
+{
 
 class DataAssociation
 {
@@ -40,7 +44,7 @@ class DataAssociation
   Eigen::MatrixXd max_rad_matrix_;
   Eigen::MatrixXd min_iou_matrix_;
   const double score_threshold_;
-  std::unique_ptr<gnn_solver::GnnSolverInterface> gnn_solver_ptr_;
+  std::unique_ptr<autoware::object_merger::gnn_solver::GnnSolverInterface> gnn_solver_ptr_;
 
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
@@ -56,4 +60,6 @@ class DataAssociation
   virtual ~DataAssociation() {}
 };
 
-#endif  // OBJECT_MERGER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_
+}  // namespace autoware::object_merger
+
+#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__DATA_ASSOCIATION_HPP_
diff --git a/perception/object_merger/include/object_merger/data_association/solver/gnn_solver.hpp b/perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver.hpp
similarity index 57%
rename from perception/object_merger/include/object_merger/data_association/solver/gnn_solver.hpp
rename to perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver.hpp
index cead11d516421..6421dd6108a4a 100644
--- a/perception/object_merger/include/object_merger/data_association/solver/gnn_solver.hpp
+++ b/perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
-#define OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
 
-#include "object_merger/data_association/solver/gnn_solver_interface.hpp"
-#include "object_merger/data_association/solver/mu_successive_shortest_path.hpp"
-#include "object_merger/data_association/solver/successive_shortest_path.hpp"
+#include "autoware_object_merger/association/solver/gnn_solver_interface.hpp"
+#include "autoware_object_merger/association/solver/mu_ssp.hpp"
+#include "autoware_object_merger/association/solver/ssp.hpp"
 
-#endif  // OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
diff --git a/perception/object_merger/include/object_merger/data_association/solver/gnn_solver_interface.hpp b/perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver_interface.hpp
similarity index 73%
rename from perception/object_merger/include/object_merger/data_association/solver/gnn_solver_interface.hpp
rename to perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver_interface.hpp
index 447f4fa2b7ce3..6a0702f056ba7 100644
--- a/perception/object_merger/include/object_merger/data_association/solver/gnn_solver_interface.hpp
+++ b/perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver_interface.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
-#define OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
 
 #include <unordered_map>
 #include <vector>
 
-namespace gnn_solver
+namespace autoware::object_merger::gnn_solver
 {
 class GnnSolverInterface
 {
@@ -30,6 +30,6 @@ class GnnSolverInterface
     const std::vector<std::vector<double>> & cost, std::unordered_map<int, int> * direct_assignment,
     std::unordered_map<int, int> * reverse_assignment) = 0;
 };
-}  // namespace gnn_solver
+}  // namespace autoware::object_merger::gnn_solver
 
-#endif  // OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
diff --git a/perception/object_merger/include/object_merger/data_association/solver/mu_successive_shortest_path.hpp b/perception/object_merger/include/autoware_object_merger/association/solver/mu_ssp.hpp
similarity index 71%
rename from perception/object_merger/include/object_merger/data_association/solver/mu_successive_shortest_path.hpp
rename to perception/object_merger/include/autoware_object_merger/association/solver/mu_ssp.hpp
index 0464a29e6b2e5..364e9306112a7 100644
--- a/perception/object_merger/include/object_merger/data_association/solver/mu_successive_shortest_path.hpp
+++ b/perception/object_merger/include/autoware_object_merger/association/solver/mu_ssp.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_
-#define OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_
+#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
+#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
 
-#include "object_merger/data_association/solver/gnn_solver_interface.hpp"
+#include "autoware_object_merger/association/solver/gnn_solver_interface.hpp"
 
 #include <unordered_map>
 #include <vector>
 
-namespace gnn_solver
+namespace autoware::object_merger::gnn_solver
 {
 class MuSSP : public GnnSolverInterface
 {
@@ -32,6 +32,6 @@ class MuSSP : public GnnSolverInterface
     const std::vector<std::vector<double>> & cost, std::unordered_map<int, int> * direct_assignment,
     std::unordered_map<int, int> * reverse_assignment) override;
 };
-}  // namespace gnn_solver
+}  // namespace autoware::object_merger::gnn_solver
 
-#endif  // OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_
+#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_
diff --git a/perception/object_merger/include/object_merger/data_association/solver/successive_shortest_path.hpp b/perception/object_merger/include/autoware_object_merger/association/solver/ssp.hpp
similarity index 71%
rename from perception/object_merger/include/object_merger/data_association/solver/successive_shortest_path.hpp
rename to perception/object_merger/include/autoware_object_merger/association/solver/ssp.hpp
index 618879a01866f..41bf390829ade 100644
--- a/perception/object_merger/include/object_merger/data_association/solver/successive_shortest_path.hpp
+++ b/perception/object_merger/include/autoware_object_merger/association/solver/ssp.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_
-#define OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_
+#ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
+#define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
 
-#include "object_merger/data_association/solver/gnn_solver_interface.hpp"
+#include "autoware_object_merger/association/solver/gnn_solver_interface.hpp"
 
 #include <unordered_map>
 #include <vector>
 
-namespace gnn_solver
+namespace autoware::object_merger::gnn_solver
 {
 class SSP : public GnnSolverInterface
 {
@@ -32,6 +32,6 @@ class SSP : public GnnSolverInterface
     const std::vector<std::vector<double>> & cost, std::unordered_map<int, int> * direct_assignment,
     std::unordered_map<int, int> * reverse_assignment) override;
 };
-}  // namespace gnn_solver
+}  // namespace autoware::object_merger::gnn_solver
 
-#endif  // OBJECT_MERGER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_
+#endif  // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_
diff --git a/perception/object_merger/include/object_merger/utils/utils.hpp b/perception/object_merger/include/object_merger/utils/utils.hpp
deleted file mode 100644
index bb167cbe20bd6..0000000000000
--- a/perception/object_merger/include/object_merger/utils/utils.hpp
+++ /dev/null
@@ -1,73 +0,0 @@
-// Copyright 2020 Tier IV, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-//
-//
-// Author: v1.0 Yukihiro Saito
-//
-
-#ifndef OBJECT_MERGER__UTILS__UTILS_HPP_
-#define OBJECT_MERGER__UTILS__UTILS_HPP_
-
-#include <autoware_perception_msgs/msg/detected_object.hpp>
-#include <autoware_perception_msgs/msg/shape.hpp>
-#include <geometry_msgs/msg/polygon.hpp>
-#include <geometry_msgs/msg/vector3.hpp>
-
-#include <cmath>
-#include <tuple>
-#include <vector>
-
-namespace utils
-{
-enum MSG_COV_IDX {
-  X_X = 0,
-  X_Y = 1,
-  X_Z = 2,
-  X_ROLL = 3,
-  X_PITCH = 4,
-  X_YAW = 5,
-  Y_X = 6,
-  Y_Y = 7,
-  Y_Z = 8,
-  Y_ROLL = 9,
-  Y_PITCH = 10,
-  Y_YAW = 11,
-  Z_X = 12,
-  Z_Y = 13,
-  Z_Z = 14,
-  Z_ROLL = 15,
-  Z_PITCH = 16,
-  Z_YAW = 17,
-  ROLL_X = 18,
-  ROLL_Y = 19,
-  ROLL_Z = 20,
-  ROLL_ROLL = 21,
-  ROLL_PITCH = 22,
-  ROLL_YAW = 23,
-  PITCH_X = 24,
-  PITCH_Y = 25,
-  PITCH_Z = 26,
-  PITCH_ROLL = 27,
-  PITCH_PITCH = 28,
-  PITCH_YAW = 29,
-  YAW_X = 30,
-  YAW_Y = 31,
-  YAW_Z = 32,
-  YAW_ROLL = 33,
-  YAW_PITCH = 34,
-  YAW_YAW = 35
-};
-}  // namespace utils
-
-#endif  // OBJECT_MERGER__UTILS__UTILS_HPP_
diff --git a/perception/object_merger/package.xml b/perception/object_merger/package.xml
index 0340a477936b8..5ca261b3ddf0e 100644
--- a/perception/object_merger/package.xml
+++ b/perception/object_merger/package.xml
@@ -22,7 +22,6 @@
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_perception_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/perception/object_merger/src/object_association_merger/data_association/data_association.cpp b/perception/object_merger/src/association/data_association.cpp
similarity index 95%
rename from perception/object_merger/src/object_association_merger/data_association/data_association.cpp
rename to perception/object_merger/src/association/data_association.cpp
index c32fe480ff4af..c2f7d44fa779b 100644
--- a/perception/object_merger/src/object_association_merger/data_association/data_association.cpp
+++ b/perception/object_merger/src/association/data_association.cpp
@@ -12,11 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "object_merger/data_association/data_association.hpp"
+#include "autoware_object_merger/association/data_association.hpp"
 
 #include "autoware/universe_utils/geometry/geometry.hpp"
-#include "object_merger/data_association/solver/gnn_solver.hpp"
-#include "object_merger/utils/utils.hpp"
+#include "autoware_object_merger/association/solver/gnn_solver.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
 #include <algorithm>
@@ -47,6 +46,9 @@ double getFormedYawAngle(
 }
 }  // namespace
 
+namespace autoware::object_merger
+{
+
 DataAssociation::DataAssociation(
   std::vector<int> can_assign_vector, std::vector<double> max_dist_vector,
   std::vector<double> max_rad_vector, std::vector<double> min_iou_vector)
@@ -77,7 +79,7 @@ DataAssociation::DataAssociation(
     min_iou_matrix_ = min_iou_matrix_tmp.transpose();
   }
 
-  gnn_solver_ptr_ = std::make_unique<gnn_solver::MuSSP>();
+  gnn_solver_ptr_ = std::make_unique<autoware::object_merger::gnn_solver::MuSSP>();
 }
 
 void DataAssociation::assign(
@@ -172,3 +174,5 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
 
   return score_matrix;
 }
+
+}  // namespace autoware::object_merger
diff --git a/perception/object_merger/src/object_association_merger/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp b/perception/object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp
similarity index 87%
rename from perception/object_merger/src/object_association_merger/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
rename to perception/object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp
index e7fa56fee88c5..6a5dd6473da1f 100644
--- a/perception/object_merger/src/object_association_merger/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
+++ b/perception/object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "object_merger/data_association/solver/mu_successive_shortest_path.hpp"
+#include "autoware_object_merger/association/solver/mu_ssp.hpp"
 
 #include <mussp/mussp.h>
 
@@ -24,7 +24,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace gnn_solver
+namespace autoware::object_merger::gnn_solver
 {
 void MuSSP::maximizeLinearAssignment(
   const std::vector<std::vector<double>> & cost, std::unordered_map<int, int> * direct_assignment,
@@ -38,4 +38,4 @@ void MuSSP::maximizeLinearAssignment(
   // Solve DA by muSSP
   solve_muSSP(cost, direct_assignment, reverse_assignment);
 }
-}  // namespace gnn_solver
+}  // namespace autoware::object_merger::gnn_solver
diff --git a/perception/object_merger/src/object_association_merger/data_association/successive_shortest_path/successive_shortest_path.cpp b/perception/object_merger/src/association/solver/successive_shortest_path.cpp
similarity index 98%
rename from perception/object_merger/src/object_association_merger/data_association/successive_shortest_path/successive_shortest_path.cpp
rename to perception/object_merger/src/association/solver/successive_shortest_path.cpp
index b38257d0188e0..782aa1ef4ac31 100644
--- a/perception/object_merger/src/object_association_merger/data_association/successive_shortest_path/successive_shortest_path.cpp
+++ b/perception/object_merger/src/association/solver/successive_shortest_path.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "object_merger/data_association/solver/successive_shortest_path.hpp"
+#include "autoware_object_merger/association/solver/ssp.hpp"
 
 #include <algorithm>
 #include <cassert>
@@ -22,7 +22,7 @@
 #include <utility>
 #include <vector>
 
-namespace gnn_solver
+namespace autoware::object_merger::gnn_solver
 {
 struct ResidualEdge
 {
@@ -367,4 +367,4 @@ void SSP::maximizeLinearAssignment(
   }
 #endif
 }
-}  // namespace gnn_solver
+}  // namespace autoware::object_merger::gnn_solver
diff --git a/perception/object_merger/src/object_association_merger/node.cpp b/perception/object_merger/src/object_association_merger_node.cpp
similarity index 97%
rename from perception/object_merger/src/object_association_merger/node.cpp
rename to perception/object_merger/src/object_association_merger_node.cpp
index 2b806382382cf..321f1a8da8d9e 100644
--- a/perception/object_merger/src/object_association_merger/node.cpp
+++ b/perception/object_merger/src/object_association_merger_node.cpp
@@ -12,20 +12,21 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "object_merger/node.hpp"
+#define EIGEN_MPL2_ONLY
+
+#include "object_association_merger_node.hpp"
 
 #include "autoware/universe_utils/geometry/geometry.hpp"
-#include "object_merger/utils/utils.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+
 #include <boost/optional.hpp>
 
 #include <chrono>
 #include <unordered_map>
-
-#define EIGEN_MPL2_ONLY
-#include <Eigen/Core>
-#include <Eigen/Geometry>
+#include <utility>
 
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 
@@ -70,7 +71,7 @@ std::map<int, double> convertListToClassMap(const std::vector<double> & distance
 }
 }  // namespace
 
-namespace object_association
+namespace autoware::object_merger
 {
 ObjectAssociationMergerNode::ObjectAssociationMergerNode(const rclcpp::NodeOptions & node_options)
 : rclcpp::Node("object_association_merger_node", node_options),
@@ -104,7 +105,7 @@ ObjectAssociationMergerNode::ObjectAssociationMergerNode(const rclcpp::NodeOptio
   const auto max_dist_matrix = this->declare_parameter<std::vector<double>>("max_dist_matrix");
   const auto max_rad_matrix = this->declare_parameter<std::vector<double>>("max_rad_matrix");
   const auto min_iou_matrix = this->declare_parameter<std::vector<double>>("min_iou_matrix");
-  data_association_ = std::make_unique<DataAssociation>(
+  data_association_ = std::make_unique<autoware::object_merger::DataAssociation>(
     can_assign_matrix, max_dist_matrix, max_rad_matrix, min_iou_matrix);
 
   // Create publishers and subscribers
@@ -231,7 +232,7 @@ void ObjectAssociationMergerNode::objectsCallback(
   processing_time_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
     "debug/processing_time_ms", stop_watch_ptr_->toc("processing_time", true));
 }
-}  // namespace object_association
+}  // namespace autoware::object_merger
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(object_association::ObjectAssociationMergerNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::object_merger::ObjectAssociationMergerNode)
diff --git a/perception/object_merger/include/object_merger/node.hpp b/perception/object_merger/src/object_association_merger_node.hpp
similarity index 85%
rename from perception/object_merger/include/object_merger/node.hpp
rename to perception/object_merger/src/object_association_merger_node.hpp
index 2f5918a9c7f17..d5b5a1ae018a6 100644
--- a/perception/object_merger/include/object_merger/node.hpp
+++ b/perception/object_merger/src/object_association_merger_node.hpp
@@ -12,17 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_MERGER__NODE_HPP_
-#define OBJECT_MERGER__NODE_HPP_
+#ifndef OBJECT_ASSOCIATION_MERGER_NODE_HPP_
+#define OBJECT_ASSOCIATION_MERGER_NODE_HPP_
 
-#include "object_merger/data_association/data_association.hpp"
+#include "autoware/universe_utils/ros/debug_publisher.hpp"
+#include "autoware/universe_utils/ros/published_time_publisher.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
+#include "autoware_object_merger/association/data_association.hpp"
 
-#include <autoware/universe_utils/ros/debug_publisher.hpp>
-#include <autoware/universe_utils/ros/published_time_publisher.hpp>
-#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
 
-#include <autoware_perception_msgs/msg/detected_objects.hpp>
+#include "autoware_perception_msgs/msg/detected_objects.hpp"
 
 #include <message_filters/subscriber.h>
 #include <message_filters/sync_policies/approximate_time.h>
@@ -45,7 +45,7 @@
 #include <string>
 #include <vector>
 
-namespace object_association
+namespace autoware::object_merger
 {
 class ObjectAssociationMergerNode : public rclcpp::Node
 {
@@ -89,6 +89,6 @@ class ObjectAssociationMergerNode : public rclcpp::Node
 
   std::unique_ptr<autoware::universe_utils::PublishedTimePublisher> published_time_publisher_;
 };
-}  // namespace object_association
+}  // namespace autoware::object_merger
 
-#endif  // OBJECT_MERGER__NODE_HPP_
+#endif  // OBJECT_ASSOCIATION_MERGER_NODE_HPP_