diff --git a/perception/object_merger/CMakeLists.txt b/perception/object_merger/CMakeLists.txt
index a4ee2d83c9f23..13a92152561bb 100644
--- a/perception/object_merger/CMakeLists.txt
+++ b/perception/object_merger/CMakeLists.txt
@@ -21,7 +21,7 @@ include_directories(
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/data_association/data_association.cpp
   src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
-  src/node.cpp
+  src/object_association_merger_node.cpp
 )
 
 target_link_libraries(${PROJECT_NAME}
diff --git a/perception/object_merger/include/autoware/object_merger/node.hpp b/perception/object_merger/include/autoware/object_merger/object_association_merger_node.hpp
similarity index 94%
rename from perception/object_merger/include/autoware/object_merger/node.hpp
rename to perception/object_merger/include/autoware/object_merger/object_association_merger_node.hpp
index 4016bd2cd4a60..55e49f2804f2f 100644
--- a/perception/object_merger/include/autoware/object_merger/node.hpp
+++ b/perception/object_merger/include/autoware/object_merger/object_association_merger_node.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__OBJECT_MERGER__NODE_HPP_
-#define AUTOWARE__OBJECT_MERGER__NODE_HPP_
+#ifndef AUTOWARE__OBJECT_MERGER__OBJECT_ASSOCIATION_MERGER_NODE_HPP_
+#define AUTOWARE__OBJECT_MERGER__OBJECT_ASSOCIATION_MERGER_NODE_HPP_
 
 #include "autoware/object_merger/data_association/data_association.hpp"
 #include "autoware/universe_utils/ros/debug_publisher.hpp"
@@ -91,4 +91,4 @@ class ObjectAssociationMergerNode : public rclcpp::Node
 };
 }  // namespace autoware::object_merger
 
-#endif  // AUTOWARE__OBJECT_MERGER__NODE_HPP_
+#endif  // AUTOWARE__OBJECT_MERGER__OBJECT_ASSOCIATION_MERGER_NODE_HPP_
diff --git a/perception/object_merger/src/node.cpp b/perception/object_merger/src/object_association_merger_node.cpp
similarity index 99%
rename from perception/object_merger/src/node.cpp
rename to perception/object_merger/src/object_association_merger_node.cpp
index 593ad3e86a42f..b6be473cd5278 100644
--- a/perception/object_merger/src/node.cpp
+++ b/perception/object_merger/src/object_association_merger_node.cpp
@@ -14,7 +14,7 @@
 
 #define EIGEN_MPL2_ONLY
 
-#include "autoware/object_merger/node.hpp"
+#include "autoware/object_merger/object_association_merger_node.hpp"
 
 #include "autoware/universe_utils/geometry/geometry.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"