diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 44632c7bf99ce..2eb1bdcdfcb33 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -157,6 +157,7 @@ perception/traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhon
 perception/traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp
 perception/traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier4.jp
 planning/autoware_behavior_path_external_request_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
+planning/autoware_behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp
 planning/autoware_remaining_distance_time_calculator/** ahmed.ebrahim@leodrive.ai
 planning/autoware_static_centerline_generator/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp
@@ -179,7 +180,6 @@ planning/behavior_velocity_no_drivable_lane_module/** ahmed.ebrahim@leodrive.ai
 planning/behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
index 865ab99e870e4..57d0280330641 100644
--- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
+++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml
@@ -220,7 +220,7 @@
       <extra_arg name="use_intra_process_comms" value="false"/>
     </composable_node>
 
-    <composable_node pkg="behavior_velocity_planner" plugin="behavior_velocity_planner::BehaviorVelocityPlannerNode" name="behavior_velocity_planner" namespace="">
+    <composable_node pkg="autoware_behavior_velocity_planner" plugin="autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode" name="behavior_velocity_planner" namespace="">
       <!-- topic remap -->
       <remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>
       <remap from="~/input/vector_map" to="$(var input_vector_map_topic_name)"/>
diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml
index d04a405a61c7b..9d39c397f9417 100644
--- a/launch/tier4_planning_launch/package.xml
+++ b/launch/tier4_planning_launch/package.xml
@@ -57,9 +57,9 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <exec_depend>autoware_behavior_velocity_planner</exec_depend>
   <exec_depend>autoware_remaining_distance_time_calculator</exec_depend>
   <exec_depend>behavior_path_planner</exec_depend>
-  <exec_depend>behavior_velocity_planner</exec_depend>
   <exec_depend>costmap_generator</exec_depend>
   <exec_depend>external_cmd_selector</exec_depend>
   <exec_depend>external_velocity_limit_selector</exec_depend>
diff --git a/planning/.pages b/planning/.pages
index 645a32b4b05fa..e355639eb8da5 100644
--- a/planning/.pages
+++ b/planning/.pages
@@ -18,7 +18,7 @@ nav:
         - 'Side Shift': planning/behavior_path_side_shift_module
         - 'Start Planner': planning/behavior_path_start_planner_module
   - 'Behavior Velocity Planner':
-    - 'About Behavior Velocity': planning/behavior_velocity_planner
+    - 'About Behavior Velocity': planning/autoware_behavior_velocity_planner
     - 'Template for Custom Module': planning/behavior_velocity_template_module
     - 'Available Module':
         - 'Blind Spot': planning/behavior_velocity_blind_spot_module
diff --git a/planning/behavior_velocity_planner/CMakeLists.txt b/planning/autoware_behavior_velocity_planner/CMakeLists.txt
similarity index 90%
rename from planning/behavior_velocity_planner/CMakeLists.txt
rename to planning/autoware_behavior_velocity_planner/CMakeLists.txt
index ee7dd7c07a77a..37a02b844dfe9 100644
--- a/planning/behavior_velocity_planner/CMakeLists.txt
+++ b/planning/autoware_behavior_velocity_planner/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_velocity_planner)
+project(autoware_behavior_velocity_planner)
 
 find_package(autoware_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
@@ -19,7 +19,7 @@ ament_auto_add_library(${PROJECT_NAME}_lib SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}_lib
-  PLUGIN "behavior_velocity_planner::BehaviorVelocityPlannerNode"
+  PLUGIN "autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode"
   EXECUTABLE ${PROJECT_NAME}_node
 )
 
diff --git a/planning/behavior_velocity_planner/README.md b/planning/autoware_behavior_velocity_planner/README.md
similarity index 100%
rename from planning/behavior_velocity_planner/README.md
rename to planning/autoware_behavior_velocity_planner/README.md
diff --git a/planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml b/planning/autoware_behavior_velocity_planner/config/behavior_velocity_planner.param.yaml
similarity index 100%
rename from planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml
rename to planning/autoware_behavior_velocity_planner/config/behavior_velocity_planner.param.yaml
diff --git a/planning/behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg b/planning/autoware_behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg
similarity index 100%
rename from planning/behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg
rename to planning/autoware_behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg
diff --git a/planning/behavior_velocity_planner/docs/set_stop_velocity.drawio.svg b/planning/autoware_behavior_velocity_planner/docs/set_stop_velocity.drawio.svg
similarity index 100%
rename from planning/behavior_velocity_planner/docs/set_stop_velocity.drawio.svg
rename to planning/autoware_behavior_velocity_planner/docs/set_stop_velocity.drawio.svg
diff --git a/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml b/planning/autoware_behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml
similarity index 97%
rename from planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml
rename to planning/autoware_behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml
index c1631fdb739de..d4478f87f0610 100644
--- a/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml
+++ b/planning/autoware_behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml
@@ -30,7 +30,7 @@
   <!-- <arg name="behavior_velocity_planner_template_module_param_path"/> -->
   <arg name="behavior_velocity_planner_param_file" default="$(find-pkg-share behavior_velocity_planner)/config/behavior_velocity_planner.param.yaml"/>
 
-  <node pkg="behavior_velocity_planner" exec="behavior_velocity_planner_node" name="behavior_velocity_planner" output="screen">
+  <node pkg="autoware_behavior_velocity_planner" exec="behavior_velocity_planner_node" name="behavior_velocity_planner" output="screen">
     <!-- topic remap -->
     <remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>
     <remap from="~/input/vector_map" to="/map/vector_map"/>
diff --git a/planning/behavior_velocity_planner/package.xml b/planning/autoware_behavior_velocity_planner/package.xml
similarity index 96%
rename from planning/behavior_velocity_planner/package.xml
rename to planning/autoware_behavior_velocity_planner/package.xml
index 1357b555f0ba4..573d862f1725b 100644
--- a/planning/behavior_velocity_planner/package.xml
+++ b/planning/autoware_behavior_velocity_planner/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>behavior_velocity_planner</name>
+  <name>autoware_behavior_velocity_planner</name>
   <version>0.1.0</version>
-  <description>The behavior_velocity_planner package</description>
+  <description>The autoware_behavior_velocity_planner package</description>
 
   <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
diff --git a/planning/behavior_velocity_planner/schema/behavior_velocity_planner.schema.json b/planning/autoware_behavior_velocity_planner/schema/behavior_velocity_planner.schema.json
similarity index 100%
rename from planning/behavior_velocity_planner/schema/behavior_velocity_planner.schema.json
rename to planning/autoware_behavior_velocity_planner/schema/behavior_velocity_planner.schema.json
diff --git a/planning/behavior_velocity_planner/src/node.cpp b/planning/autoware_behavior_velocity_planner/src/node.cpp
similarity index 96%
rename from planning/behavior_velocity_planner/src/node.cpp
rename to planning/autoware_behavior_velocity_planner/src/node.cpp
index 1801db4658a72..d4ae3897bca65 100644
--- a/planning/behavior_velocity_planner/src/node.cpp
+++ b/planning/autoware_behavior_velocity_planner/src/node.cpp
@@ -52,7 +52,7 @@ rclcpp::SubscriptionOptions createSubscriptionOptions(rclcpp::Node * node_ptr)
 }
 }  // namespace
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace
 {
@@ -436,14 +436,15 @@ autoware_auto_planning_msgs::msg::Path BehaviorVelocityPlannerNode::generatePath
     std::make_shared<const PlannerData>(planner_data), *input_path_msg);
 
   // screening
-  const auto filtered_path = filterLitterPathPoint(to_path(velocity_planned_path));
+  const auto filtered_path =
+    ::behavior_velocity_planner::filterLitterPathPoint(to_path(velocity_planned_path));
 
   // interpolation
-  const auto interpolated_path_msg =
-    interpolatePath(filtered_path, forward_path_length_, behavior_output_path_interval_);
+  const auto interpolated_path_msg = ::behavior_velocity_planner::interpolatePath(
+    filtered_path, forward_path_length_, behavior_output_path_interval_);
 
   // check stop point
-  output_path_msg = filterStopPathPoint(interpolated_path_msg);
+  output_path_msg = ::behavior_velocity_planner::filterStopPathPoint(interpolated_path_msg);
 
   output_path_msg.header.frame_id = "map";
   output_path_msg.header.stamp = this->now();
@@ -477,7 +478,7 @@ void BehaviorVelocityPlannerNode::publishDebugMarker(
   }
   debug_viz_pub_->publish(output_msg);
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(behavior_velocity_planner::BehaviorVelocityPlannerNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode)
diff --git a/planning/behavior_velocity_planner/src/node.hpp b/planning/autoware_behavior_velocity_planner/src/node.hpp
similarity index 93%
rename from planning/behavior_velocity_planner/src/node.hpp
rename to planning/autoware_behavior_velocity_planner/src/node.hpp
index dd6edf6ae0bc0..6e74203460542 100644
--- a/planning/behavior_velocity_planner/src/node.hpp
+++ b/planning/autoware_behavior_velocity_planner/src/node.hpp
@@ -18,8 +18,8 @@
 #include "planner_manager.hpp"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 
-#include <behavior_velocity_planner/srv/load_plugin.hpp>
-#include <behavior_velocity_planner/srv/unload_plugin.hpp>
+#include <autoware_behavior_velocity_planner/srv/load_plugin.hpp>
+#include <autoware_behavior_velocity_planner/srv/unload_plugin.hpp>
 #include <behavior_velocity_planner_common/planner_data.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/ros/published_time_publisher.hpp>
@@ -44,11 +44,12 @@
 #include <string>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using autoware_auto_mapping_msgs::msg::HADMapBin;
-using behavior_velocity_planner::srv::LoadPlugin;
-using behavior_velocity_planner::srv::UnloadPlugin;
+using autoware_behavior_velocity_planner::srv::LoadPlugin;
+using autoware_behavior_velocity_planner::srv::UnloadPlugin;
+using ::behavior_velocity_planner::TrafficSignalStamped;
 using tier4_planning_msgs::msg::VelocityLimit;
 
 class BehaviorVelocityPlannerNode : public rclcpp::Node
@@ -134,6 +135,6 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node
 
   std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
 };
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // NODE_HPP_
diff --git a/planning/behavior_velocity_planner/src/planner_manager.cpp b/planning/autoware_behavior_velocity_planner/src/planner_manager.cpp
similarity index 95%
rename from planning/behavior_velocity_planner/src/planner_manager.cpp
rename to planning/autoware_behavior_velocity_planner/src/planner_manager.cpp
index cb491920c87d4..f939f67a06f9e 100644
--- a/planning/behavior_velocity_planner/src/planner_manager.cpp
+++ b/planning/autoware_behavior_velocity_planner/src/planner_manager.cpp
@@ -19,7 +19,7 @@
 #include <memory>
 #include <string>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 namespace
 {
@@ -50,7 +50,7 @@ diagnostic_msgs::msg::DiagnosticStatus makeStopReasonDiag(
 }  // namespace
 
 BehaviorVelocityPlannerManager::BehaviorVelocityPlannerManager()
-: plugin_loader_("behavior_velocity_planner", "behavior_velocity_planner::PluginInterface")
+: plugin_loader_("autoware_behavior_velocity_planner", "behavior_velocity_planner::PluginInterface")
 {
 }
 
@@ -128,4 +128,4 @@ diagnostic_msgs::msg::DiagnosticStatus BehaviorVelocityPlannerManager::getStopRe
 {
   return stop_reason_diag_;
 }
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
diff --git a/planning/behavior_velocity_planner/src/planner_manager.hpp b/planning/autoware_behavior_velocity_planner/src/planner_manager.hpp
similarity index 91%
rename from planning/behavior_velocity_planner/src/planner_manager.hpp
rename to planning/autoware_behavior_velocity_planner/src/planner_manager.hpp
index 7485e5faba8bf..f9c1d0253de62 100644
--- a/planning/behavior_velocity_planner/src/planner_manager.hpp
+++ b/planning/autoware_behavior_velocity_planner/src/planner_manager.hpp
@@ -36,8 +36,11 @@
 #include <string>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
+using ::behavior_velocity_planner::PlannerData;
+using ::behavior_velocity_planner::PluginInterface;
+
 class BehaviorVelocityPlannerManager
 {
 public:
@@ -56,6 +59,6 @@ class BehaviorVelocityPlannerManager
   pluginlib::ClassLoader<PluginInterface> plugin_loader_;
   std::vector<std::shared_ptr<PluginInterface>> scene_manager_plugins_;
 };
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // PLANNER_MANAGER_HPP_
diff --git a/planning/behavior_velocity_planner/srv/LoadPlugin.srv b/planning/autoware_behavior_velocity_planner/srv/LoadPlugin.srv
similarity index 100%
rename from planning/behavior_velocity_planner/srv/LoadPlugin.srv
rename to planning/autoware_behavior_velocity_planner/srv/LoadPlugin.srv
diff --git a/planning/behavior_velocity_planner/srv/UnloadPlugin.srv b/planning/autoware_behavior_velocity_planner/srv/UnloadPlugin.srv
similarity index 100%
rename from planning/behavior_velocity_planner/srv/UnloadPlugin.srv
rename to planning/autoware_behavior_velocity_planner/srv/UnloadPlugin.srv
diff --git a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
similarity index 98%
rename from planning/behavior_velocity_planner/test/src/test_node_interface.cpp
rename to planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
index f70259b6a1f80..06c1bc48cf529 100644
--- a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp
+++ b/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
@@ -23,7 +23,7 @@
 #include <cmath>
 #include <vector>
 
-using behavior_velocity_planner::BehaviorVelocityPlannerNode;
+using autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
@@ -50,7 +50,7 @@ std::shared_ptr<BehaviorVelocityPlannerNode> generateNode()
   const auto planning_test_utils_dir =
     ament_index_cpp::get_package_share_directory("planning_test_utils");
   const auto behavior_velocity_planner_dir =
-    ament_index_cpp::get_package_share_directory("behavior_velocity_planner");
+    ament_index_cpp::get_package_share_directory("autoware_behavior_velocity_planner");
   const auto motion_velocity_smoother_dir =
     ament_index_cpp::get_package_share_directory("motion_velocity_smoother");
 
diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml
index 96e17595d49ee..56d30a715c006 100644
--- a/planning/autoware_static_centerline_generator/package.xml
+++ b/planning/autoware_static_centerline_generator/package.xml
@@ -43,9 +43,9 @@
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_behavior_velocity_planner</test_depend>
   <test_depend>autoware_lint_common</test_depend>
   <test_depend>behavior_path_planner</test_depend>
-  <test_depend>behavior_velocity_planner</test_depend>
   <test_depend>ros_testing</test_depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>
diff --git a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py
index 3011abccd48ca..dc3c26798b12d 100644
--- a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py
+++ b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py
@@ -59,7 +59,7 @@ def generate_test_description():
                 "config/behavior_path_planner.param.yaml",
             ),
             os.path.join(
-                get_package_share_directory("behavior_velocity_planner"),
+                get_package_share_directory("autoware_behavior_velocity_planner"),
                 "config/behavior_velocity_planner.param.yaml",
             ),
             os.path.join(
diff --git a/planning/behavior_velocity_blind_spot_module/CMakeLists.txt b/planning/behavior_velocity_blind_spot_module/CMakeLists.txt
index 682da3ae58d7e..8af66318b3fd3 100644
--- a/planning/behavior_velocity_blind_spot_module/CMakeLists.txt
+++ b/planning/behavior_velocity_blind_spot_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_blind_spot_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp
diff --git a/planning/behavior_velocity_crosswalk_module/CMakeLists.txt b/planning/behavior_velocity_crosswalk_module/CMakeLists.txt
index 69dd1ced695ec..f21d5ab786cad 100644
--- a/planning/behavior_velocity_crosswalk_module/CMakeLists.txt
+++ b/planning/behavior_velocity_crosswalk_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_crosswalk_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   DIRECTORY
diff --git a/planning/behavior_velocity_detection_area_module/CMakeLists.txt b/planning/behavior_velocity_detection_area_module/CMakeLists.txt
index 2a16ed95ba655..e6990d2d28642 100644
--- a/planning/behavior_velocity_detection_area_module/CMakeLists.txt
+++ b/planning/behavior_velocity_detection_area_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_detection_area_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp
diff --git a/planning/behavior_velocity_dynamic_obstacle_stop_module/CMakeLists.txt b/planning/behavior_velocity_dynamic_obstacle_stop_module/CMakeLists.txt
index 20f4b3aa8f4d3..481ac245cb432 100644
--- a/planning/behavior_velocity_dynamic_obstacle_stop_module/CMakeLists.txt
+++ b/planning/behavior_velocity_dynamic_obstacle_stop_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_dynamic_obstacle_stop_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   DIRECTORY src
diff --git a/planning/behavior_velocity_intersection_module/CMakeLists.txt b/planning/behavior_velocity_intersection_module/CMakeLists.txt
index 07847a08c1209..c02b5a3852722 100644
--- a/planning/behavior_velocity_intersection_module/CMakeLists.txt
+++ b/planning/behavior_velocity_intersection_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_intersection_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 find_package(OpenCV REQUIRED)
 
diff --git a/planning/behavior_velocity_no_drivable_lane_module/CMakeLists.txt b/planning/behavior_velocity_no_drivable_lane_module/CMakeLists.txt
index ef3073df56c22..265b5b637e7ce 100644
--- a/planning/behavior_velocity_no_drivable_lane_module/CMakeLists.txt
+++ b/planning/behavior_velocity_no_drivable_lane_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_no_drivable_lane_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp
diff --git a/planning/behavior_velocity_no_stopping_area_module/CMakeLists.txt b/planning/behavior_velocity_no_stopping_area_module/CMakeLists.txt
index 4d14228c4685c..ba3fd0e4f71dd 100644
--- a/planning/behavior_velocity_no_stopping_area_module/CMakeLists.txt
+++ b/planning/behavior_velocity_no_stopping_area_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_no_stopping_area_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp
diff --git a/planning/behavior_velocity_occlusion_spot_module/CMakeLists.txt b/planning/behavior_velocity_occlusion_spot_module/CMakeLists.txt
index 7a062ee854421..8b327291a60f1 100644
--- a/planning/behavior_velocity_occlusion_spot_module/CMakeLists.txt
+++ b/planning/behavior_velocity_occlusion_spot_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_occlusion_spot_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp
diff --git a/planning/behavior_velocity_out_of_lane_module/CMakeLists.txt b/planning/behavior_velocity_out_of_lane_module/CMakeLists.txt
index 8ce1a334c4b35..e8191f9b632d5 100644
--- a/planning/behavior_velocity_out_of_lane_module/CMakeLists.txt
+++ b/planning/behavior_velocity_out_of_lane_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_out_of_lane_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   DIRECTORY src
diff --git a/planning/behavior_velocity_run_out_module/CMakeLists.txt b/planning/behavior_velocity_run_out_module/CMakeLists.txt
index 21758c4d0198c..3ee589ba69740 100644
--- a/planning/behavior_velocity_run_out_module/CMakeLists.txt
+++ b/planning/behavior_velocity_run_out_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_run_out_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp
diff --git a/planning/behavior_velocity_speed_bump_module/CMakeLists.txt b/planning/behavior_velocity_speed_bump_module/CMakeLists.txt
index a96eb3398e5c0..f5d3a7078be9c 100644
--- a/planning/behavior_velocity_speed_bump_module/CMakeLists.txt
+++ b/planning/behavior_velocity_speed_bump_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_speed_bump_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp
diff --git a/planning/behavior_velocity_stop_line_module/CMakeLists.txt b/planning/behavior_velocity_stop_line_module/CMakeLists.txt
index 3c8cc6a4f9626..bef98aafe6f75 100644
--- a/planning/behavior_velocity_stop_line_module/CMakeLists.txt
+++ b/planning/behavior_velocity_stop_line_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_stop_line_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp
diff --git a/planning/behavior_velocity_template_module/CMakeLists.txt b/planning/behavior_velocity_template_module/CMakeLists.txt
index e0beb42daf50d..103a3d0a4ceb3 100644
--- a/planning/behavior_velocity_template_module/CMakeLists.txt
+++ b/planning/behavior_velocity_template_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_template_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/manager.cpp
diff --git a/planning/behavior_velocity_traffic_light_module/CMakeLists.txt b/planning/behavior_velocity_traffic_light_module/CMakeLists.txt
index cf9392fa0568f..5737802408996 100644
--- a/planning/behavior_velocity_traffic_light_module/CMakeLists.txt
+++ b/planning/behavior_velocity_traffic_light_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_traffic_light_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp
diff --git a/planning/behavior_velocity_virtual_traffic_light_module/CMakeLists.txt b/planning/behavior_velocity_virtual_traffic_light_module/CMakeLists.txt
index 48ffa35cbae5e..a1c00cf49db29 100644
--- a/planning/behavior_velocity_virtual_traffic_light_module/CMakeLists.txt
+++ b/planning/behavior_velocity_virtual_traffic_light_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_virtual_traffic_light_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp
diff --git a/planning/behavior_velocity_walkway_module/CMakeLists.txt b/planning/behavior_velocity_walkway_module/CMakeLists.txt
index cd41dec991bc6..351a240743402 100644
--- a/planning/behavior_velocity_walkway_module/CMakeLists.txt
+++ b/planning/behavior_velocity_walkway_module/CMakeLists.txt
@@ -3,7 +3,7 @@ project(behavior_velocity_walkway_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
-pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml)
+pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/debug.cpp