diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml
index 8fae4ec2d026f..5bc44c0de7621 100644
--- a/launch/tier4_perception_launch/package.xml
+++ b/launch/tier4_perception_launch/package.xml
@@ -14,6 +14,8 @@
 
   <exec_depend>autoware_crosswalk_traffic_light_estimator</exec_depend>
   <exec_depend>autoware_map_based_prediction</exec_depend>
+  <exec_depend>autoware_radar_object_clustering</exec_depend>
+  <exec_depend>autoware_radar_object_tracker</exec_depend>
   <exec_depend>cluster_merger</exec_depend>
   <exec_depend>compare_map_segmentation</exec_depend>
   <exec_depend>detected_object_feature_remover</exec_depend>
@@ -35,8 +37,6 @@
   <exec_depend>probabilistic_occupancy_grid_map</exec_depend>
   <exec_depend>radar_crossing_objects_noise_filter</exec_depend>
   <exec_depend>radar_fusion_to_detected_object</exec_depend>
-  <exec_depend>autoware_radar_object_clustering</exec_depend>
-  <exec_depend>autoware_radar_object_tracker</exec_depend>
   <exec_depend>shape_estimation</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>tracking_object_merger</exec_depend>
diff --git a/perception/autoware_radar_object_tracker/src/association/data_association.hpp b/perception/autoware_radar_object_tracker/src/association/data_association.hpp
index efde1e6763cdd..c954db1af510d 100644
--- a/perception/autoware_radar_object_tracker/src/association/data_association.hpp
+++ b/perception/autoware_radar_object_tracker/src/association/data_association.hpp
@@ -16,8 +16,8 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__DATA_ASSOCIATION_HPP_
-#define AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__DATA_ASSOCIATION_HPP_
+#ifndef ASSOCIATION__DATA_ASSOCIATION_HPP_
+#define ASSOCIATION__DATA_ASSOCIATION_HPP_
 
 #define EIGEN_MPL2_ONLY
 
@@ -65,4 +65,4 @@ class DataAssociation
   virtual ~DataAssociation() {}
 };
 }  // namespace autoware::radar_object_tracker
-#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__DATA_ASSOCIATION_HPP_
+#endif  // ASSOCIATION__DATA_ASSOCIATION_HPP_
diff --git a/perception/autoware_radar_object_tracker/src/association/solver/gnn_solver.hpp b/perception/autoware_radar_object_tracker/src/association/solver/gnn_solver.hpp
index 2aa4a577ef91c..dd19e068d1031 100644
--- a/perception/autoware_radar_object_tracker/src/association/solver/gnn_solver.hpp
+++ b/perception/autoware_radar_object_tracker/src/association/solver/gnn_solver.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
-#define AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#ifndef ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#define ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
 
 #include "autoware_radar_object_tracker/association/solver/gnn_solver_interface.hpp"
 #include "autoware_radar_object_tracker/association/solver/mu_ssp.hpp"
 #include "autoware_radar_object_tracker/association/solver/ssp.hpp"
 
-#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#endif  // ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
diff --git a/perception/autoware_radar_object_tracker/src/association/solver/gnn_solver_interface.hpp b/perception/autoware_radar_object_tracker/src/association/solver/gnn_solver_interface.hpp
index ee2e98ba47278..311ab94363371 100644
--- a/perception/autoware_radar_object_tracker/src/association/solver/gnn_solver_interface.hpp
+++ b/perception/autoware_radar_object_tracker/src/association/solver/gnn_solver_interface.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
-#define AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#ifndef ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#define ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
 
 #include <unordered_map>
 #include <vector>
@@ -32,4 +32,4 @@ class GnnSolverInterface
 };
 }  // namespace autoware::radar_object_tracker::gnn_solver
 
-#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#endif  // ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
diff --git a/perception/autoware_radar_object_tracker/src/association/solver/mu_ssp.hpp b/perception/autoware_radar_object_tracker/src/association/solver/mu_ssp.hpp
index 2a5a336a3eb87..cbc679c1f06f1 100644
--- a/perception/autoware_radar_object_tracker/src/association/solver/mu_ssp.hpp
+++ b/perception/autoware_radar_object_tracker/src/association/solver/mu_ssp.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__MU_SSP_HPP_
-#define AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__MU_SSP_HPP_
+#ifndef ASSOCIATION__SOLVER__MU_SSP_HPP_
+#define ASSOCIATION__SOLVER__MU_SSP_HPP_
 
 #include "autoware_radar_object_tracker/association/solver/gnn_solver_interface.hpp"
 
@@ -34,4 +34,4 @@ class MuSSP : public GnnSolverInterface
 };
 }  // namespace autoware::radar_object_tracker::gnn_solver
 
-#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__MU_SSP_HPP_
+#endif  // ASSOCIATION__SOLVER__MU_SSP_HPP_
diff --git a/perception/autoware_radar_object_tracker/src/association/solver/ssp.hpp b/perception/autoware_radar_object_tracker/src/association/solver/ssp.hpp
index c956e1ebd2f6d..6c09982015f72 100644
--- a/perception/autoware_radar_object_tracker/src/association/solver/ssp.hpp
+++ b/perception/autoware_radar_object_tracker/src/association/solver/ssp.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__SSP_HPP_
-#define AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__SSP_HPP_
+#ifndef ASSOCIATION__SOLVER__SSP_HPP_
+#define ASSOCIATION__SOLVER__SSP_HPP_
 
 #include "autoware_radar_object_tracker/association/solver/gnn_solver_interface.hpp"
 
@@ -34,4 +34,4 @@ class SSP : public GnnSolverInterface
 };
 }  // namespace autoware::radar_object_tracker::gnn_solver
 
-#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__ASSOCIATION__SOLVER__SSP_HPP_
+#endif  // ASSOCIATION__SOLVER__SSP_HPP_
diff --git a/perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.hpp b/perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.hpp
index dab4d3f8efa24..c9cde51a89d8c 100644
--- a/perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.hpp
+++ b/perception/autoware_radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_
-#define AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_
+#ifndef TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_
+#define TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_
 
 #include "autoware_radar_object_tracker/tracker/model/tracker_base.hpp"
 #include "kalman_filter/kalman_filter.hpp"
@@ -109,4 +109,4 @@ class ConstantTurnRateMotionTracker : public Tracker  // means constant turn rat
   virtual ~ConstantTurnRateMotionTracker() {}
 };
 }  // namespace autoware::radar_object_tracker
-#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_
+#endif  // TRACKER__MODEL__CONSTANT_TURN_RATE_MOTION_TRACKER_HPP_
diff --git a/perception/autoware_radar_object_tracker/src/tracker/model/linear_motion_tracker.hpp b/perception/autoware_radar_object_tracker/src/tracker/model/linear_motion_tracker.hpp
index 7c96aa8fbaa36..522d76ead4317 100644
--- a/perception/autoware_radar_object_tracker/src/tracker/model/linear_motion_tracker.hpp
+++ b/perception/autoware_radar_object_tracker/src/tracker/model/linear_motion_tracker.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_
-#define AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_
+#ifndef TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_
+#define TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_
 
 #include "autoware_radar_object_tracker/tracker/model/tracker_base.hpp"
 #include "kalman_filter/kalman_filter.hpp"
@@ -114,4 +114,4 @@ class LinearMotionTracker : public Tracker
   virtual ~LinearMotionTracker() {}
 };
 }  // namespace autoware::radar_object_tracker
-#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_
+#endif  // TRACKER__MODEL__LINEAR_MOTION_TRACKER_HPP_
diff --git a/perception/autoware_radar_object_tracker/src/tracker/model/tracker_base.hpp b/perception/autoware_radar_object_tracker/src/tracker/model/tracker_base.hpp
index caea725ef8f81..8d6904cdf29a5 100644
--- a/perception/autoware_radar_object_tracker/src/tracker/model/tracker_base.hpp
+++ b/perception/autoware_radar_object_tracker/src/tracker/model/tracker_base.hpp
@@ -16,8 +16,8 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_
-#define AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_
+#ifndef TRACKER__MODEL__TRACKER_BASE_HPP_
+#define TRACKER__MODEL__TRACKER_BASE_HPP_
 
 #define EIGEN_MPL2_ONLY
 #include "autoware_radar_object_tracker/utils/utils.hpp"
@@ -95,4 +95,4 @@ class Tracker
   virtual bool predict(const rclcpp::Time & time) = 0;
 };
 }  // namespace autoware::radar_object_tracker
-#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_
+#endif  // TRACKER__MODEL__TRACKER_BASE_HPP_
diff --git a/perception/autoware_radar_object_tracker/src/tracker/tracker.hpp b/perception/autoware_radar_object_tracker/src/tracker/tracker.hpp
index 26222f4c65679..a8a1861e0e8ef 100644
--- a/perception/autoware_radar_object_tracker/src/tracker/tracker.hpp
+++ b/perception/autoware_radar_object_tracker/src/tracker/tracker.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__TRACKER_HPP_
-#define AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__TRACKER_HPP_
+#ifndef TRACKER__TRACKER_HPP_
+#define TRACKER__TRACKER_HPP_
 
 #include "model/constant_turn_rate_motion_tracker.hpp"
 #include "model/linear_motion_tracker.hpp"
 #include "model/tracker_base.hpp"
 
-#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__TRACKER__TRACKER_HPP_
+#endif  // TRACKER__TRACKER_HPP_
diff --git a/perception/autoware_radar_object_tracker/src/utils/radar_object_tracker_utils.hpp b/perception/autoware_radar_object_tracker/src/utils/radar_object_tracker_utils.hpp
index f4fb977d65de2..473e2ad32f6a8 100644
--- a/perception/autoware_radar_object_tracker/src/utils/radar_object_tracker_utils.hpp
+++ b/perception/autoware_radar_object_tracker/src/utils/radar_object_tracker_utils.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__UTILS__RADAR_OBJECT_TRACKER_UTILS_HPP_
-#define AUTOWARE_RADAR_OBJECT_TRACKER__UTILS__RADAR_OBJECT_TRACKER_UTILS_HPP_
+#ifndef UTILS__RADAR_OBJECT_TRACKER_UTILS_HPP_
+#define UTILS__RADAR_OBJECT_TRACKER_UTILS_HPP_
 
 #include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware/universe_utils/math/unit_conversion.hpp"
@@ -73,4 +73,4 @@ bool hasValidVelocityDirectionToLanelet(
 
 }  // namespace autoware::radar_object_tracker::utils
 
-#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__UTILS__RADAR_OBJECT_TRACKER_UTILS_HPP_
+#endif  // UTILS__RADAR_OBJECT_TRACKER_UTILS_HPP_
diff --git a/perception/autoware_radar_object_tracker/src/utils/utils.hpp b/perception/autoware_radar_object_tracker/src/utils/utils.hpp
index dd011ac274b64..60caa7db1b353 100644
--- a/perception/autoware_radar_object_tracker/src/utils/utils.hpp
+++ b/perception/autoware_radar_object_tracker/src/utils/utils.hpp
@@ -16,8 +16,8 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef AUTOWARE_RADAR_OBJECT_TRACKER__UTILS__UTILS_HPP_
-#define AUTOWARE_RADAR_OBJECT_TRACKER__UTILS__UTILS_HPP_
+#ifndef UTILS__UTILS_HPP_
+#define UTILS__UTILS_HPP_
 
 #include <Eigen/Core>
 #include <Eigen/Dense>
@@ -41,4 +41,4 @@ Eigen::MatrixXd stackMatricesDiagonally(const std::vector<Eigen::MatrixXd> & mat
 
 }  // namespace autoware::radar_object_tracker::utils
 
-#endif  // AUTOWARE_RADAR_OBJECT_TRACKER__UTILS__UTILS_HPP_
+#endif  // UTILS__UTILS_HPP_