diff --git a/planning/.pages b/planning/.pages
index 6e3c6d5d49104..2decfad30e0da 100644
--- a/planning/.pages
+++ b/planning/.pages
@@ -77,7 +77,7 @@ nav:
     - 'External Velocity Limit Selector': planning/autoware_external_velocity_limit_selector
     - 'Objects of Interest Marker Interface': planning/objects_of_interest_marker_interface
     - 'Route Handler': planning/route_handler
-    - 'RTC Interface': planning/rtc_interface
+    - 'RTC Interface': planning/autoware_rtc_interface
   - 'Additional Tools':
     - 'Remaining Distance Time Calculator': planning/autoware_remaining_distance_time_calculator
     - 'RTC Replayer': planning/rtc_replayer
diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/package.xml b/planning/autoware_behavior_path_external_request_lane_change_module/package.xml
index 26b78f5cf8cf1..9410be5a0011c 100644
--- a/planning/autoware_behavior_path_external_request_lane_change_module/package.xml
+++ b/planning/autoware_behavior_path_external_request_lane_change_module/package.xml
@@ -19,12 +19,12 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_behavior_path_planner_common</depend>
+  <depend>autoware_rtc_interface</depend>
   <depend>behavior_path_lane_change_module</depend>
   <depend>behavior_path_planner</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>rtc_interface</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
diff --git a/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/interface/scene_module_interface.hpp
index 97f249e0e7d6e..ebbb795a699b5 100644
--- a/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/interface/scene_module_interface.hpp
+++ b/planning/autoware_behavior_path_planner_common/include/autoware_behavior_path_planner_common/interface/scene_module_interface.hpp
@@ -22,6 +22,7 @@
 
 #include <autoware_behavior_path_planner_common/interface/steering_factor_interface.hpp>
 #include <autoware_behavior_path_planner_common/turn_signal_decider.hpp>
+#include <autoware_rtc_interface/rtc_interface.hpp>
 #include <magic_enum.hpp>
 #include <motion_utils/marker/marker_helper.hpp>
 #include <motion_utils/trajectory/path_with_lane_id.hpp>
@@ -29,7 +30,6 @@
 #include <objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <route_handler/route_handler.hpp>
-#include <rtc_interface/rtc_interface.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
 #include <tier4_autoware_utils/ros/uuid_helper.hpp>
@@ -56,11 +56,11 @@
 
 namespace behavior_path_planner
 {
+using autoware::rtc_interface::RTCInterface;
 using autoware_adapi_v1_msgs::msg::PlanningBehavior;
 using autoware_adapi_v1_msgs::msg::SteeringFactor;
 using objects_of_interest_marker_interface::ColorName;
 using objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface;
-using rtc_interface::RTCInterface;
 using steering_factor_interface::SteeringFactorInterface;
 using tier4_autoware_utils::calcOffsetPose;
 using tier4_autoware_utils::generateUUID;
diff --git a/planning/autoware_behavior_path_planner_common/package.xml b/planning/autoware_behavior_path_planner_common/package.xml
index 21da8dcef1c2d..fc12a112affd6 100644
--- a/planning/autoware_behavior_path_planner_common/package.xml
+++ b/planning/autoware_behavior_path_planner_common/package.xml
@@ -45,6 +45,7 @@
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_rtc_interface</depend>
   <depend>freespace_planning_algorithms</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
@@ -56,7 +57,6 @@
   <depend>objects_of_interest_marker_interface</depend>
   <depend>rclcpp</depend>
   <depend>route_handler</depend>
-  <depend>rtc_interface</depend>
   <depend>tf2</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
diff --git a/planning/autoware_behavior_path_start_planner_module/package.xml b/planning/autoware_behavior_path_start_planner_module/package.xml
index 8504241c908ce..e4d6de4324bfe 100644
--- a/planning/autoware_behavior_path_start_planner_module/package.xml
+++ b/planning/autoware_behavior_path_start_planner_module/package.xml
@@ -21,11 +21,11 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_behavior_path_planner_common</depend>
+  <depend>autoware_rtc_interface</depend>
   <depend>behavior_path_planner</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>rtc_interface</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
index a36a5c73729cb..e3699306df1f3 100644
--- a/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
+++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
@@ -23,6 +23,7 @@
 
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_rtc_interface</depend>
   <depend>behavior_path_planner</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
@@ -32,7 +33,6 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>route_handler</depend>
-  <depend>rtc_interface</depend>
   <depend>sensor_msgs</depend>
   <depend>signal_processing</depend>
   <depend>tf2</depend>
diff --git a/planning/autoware_behavior_velocity_intersection_module/package.xml b/planning/autoware_behavior_velocity_intersection_module/package.xml
index 401e53586c649..0655867951ed8 100644
--- a/planning/autoware_behavior_velocity_intersection_module/package.xml
+++ b/planning/autoware_behavior_velocity_intersection_module/package.xml
@@ -21,6 +21,7 @@
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_rtc_interface</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
@@ -32,7 +33,6 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>route_handler</depend>
-  <depend>rtc_interface</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
diff --git a/planning/autoware_behavior_velocity_planner_common/include/autoware_behavior_velocity_planner_common/scene_module_interface.hpp b/planning/autoware_behavior_velocity_planner_common/include/autoware_behavior_velocity_planner_common/scene_module_interface.hpp
index 53b6e064d73b4..a97346297c9ac 100644
--- a/planning/autoware_behavior_velocity_planner_common/include/autoware_behavior_velocity_planner_common/scene_module_interface.hpp
+++ b/planning/autoware_behavior_velocity_planner_common/include/autoware_behavior_velocity_planner_common/scene_module_interface.hpp
@@ -16,11 +16,11 @@
 #define AUTOWARE_BEHAVIOR_VELOCITY_PLANNER_COMMON__SCENE_MODULE_INTERFACE_HPP_
 
 #include <autoware_behavior_velocity_planner_common/planner_data.hpp>
+#include <autoware_rtc_interface/rtc_interface.hpp>
 #include <builtin_interfaces/msg/time.hpp>
 #include <motion_utils/factor/velocity_factor_interface.hpp>
 #include <motion_utils/marker/virtual_wall_marker_creator.hpp>
 #include <objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp>
-#include <rtc_interface/rtc_interface.hpp>
 #include <tier4_autoware_utils/ros/debug_publisher.hpp>
 #include <tier4_autoware_utils/ros/parameter.hpp>
 
@@ -48,12 +48,12 @@
 namespace autoware::behavior_velocity_planner
 {
 
+using autoware::rtc_interface::RTCInterface;
 using builtin_interfaces::msg::Time;
 using motion_utils::PlanningBehavior;
 using motion_utils::VelocityFactor;
 using objects_of_interest_marker_interface::ColorName;
 using objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface;
-using rtc_interface::RTCInterface;
 using tier4_autoware_utils::DebugPublisher;
 using tier4_autoware_utils::getOrDeclareParameter;
 using tier4_debug_msgs::msg::Float64Stamped;
diff --git a/planning/autoware_behavior_velocity_planner_common/package.xml b/planning/autoware_behavior_velocity_planner_common/package.xml
index 524387034e4b6..7ab991a247a63 100644
--- a/planning/autoware_behavior_velocity_planner_common/package.xml
+++ b/planning/autoware_behavior_velocity_planner_common/package.xml
@@ -23,6 +23,7 @@
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_rtc_interface</depend>
   <depend>autoware_velocity_smoother</depend>
   <depend>diagnostic_msgs</depend>
   <depend>eigen</depend>
@@ -36,7 +37,6 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>route_handler</depend>
-  <depend>rtc_interface</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
diff --git a/planning/rtc_interface/CMakeLists.txt b/planning/autoware_rtc_interface/CMakeLists.txt
similarity index 85%
rename from planning/rtc_interface/CMakeLists.txt
rename to planning/autoware_rtc_interface/CMakeLists.txt
index fda6025b84e86..cd36121e6aee8 100644
--- a/planning/rtc_interface/CMakeLists.txt
+++ b/planning/autoware_rtc_interface/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(rtc_interface)
+project(autoware_rtc_interface)
 
 ### Compile options
 if(NOT CMAKE_CXX_STANDARD)
@@ -12,7 +12,7 @@ endif()
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
-ament_auto_add_library(rtc_interface SHARED
+ament_auto_add_library(autoware_rtc_interface SHARED
   src/rtc_interface.cpp
 )
 
diff --git a/planning/rtc_interface/README.md b/planning/autoware_rtc_interface/README.md
similarity index 79%
rename from planning/rtc_interface/README.md
rename to planning/autoware_rtc_interface/README.md
index 7f8f73edcc6b2..19d200592bcf3 100644
--- a/planning/rtc_interface/README.md
+++ b/planning/autoware_rtc_interface/README.md
@@ -10,7 +10,7 @@ RTC Interface is an interface to publish the decision status of behavior plannin
 
 ```c++
 // Generate instance (in this example, "intersection" is selected)
-rtc_interface::RTCInterface rtc_interface(node, "intersection");
+autoware::rtc_interface::RTCInterface rtc_interface(node, "intersection");
 
 // Generate UUID
 const unique_identifier_msgs::msg::UUID uuid = generateUUID(getModuleId());
@@ -51,12 +51,12 @@ rtc_interface.removeCooperateStatus(uuid);
 ### RTCInterface (Constructor)
 
 ```c++
-rtc_interface::RTCInterface(rclcpp::Node & node, const std::string & name);
+autoware::rtc_interface::RTCInterface(rclcpp::Node & node, const std::string & name);
 ```
 
 #### Description
 
-A constructor for `rtc_interface::RTCInterface`.
+A constructor for `autoware::rtc_interface::RTCInterface`.
 
 #### Input
 
@@ -72,7 +72,7 @@ An instance of `RTCInterface`
 ### publishCooperateStatus
 
 ```c++
-rtc_interface::publishCooperateStatus(const rclcpp::Time & stamp)
+autoware::rtc_interface::publishCooperateStatus(const rclcpp::Time & stamp)
 ```
 
 #### Description
@@ -90,7 +90,7 @@ Nothing
 ### updateCooperateStatus
 
 ```c++
-rtc_interface::updateCooperateStatus(const unique_identifier_msgs::msg::UUID & uuid, const bool safe, const double start_distance, const double finish_distance, const rclcpp::Time & stamp)
+autoware::rtc_interface::updateCooperateStatus(const unique_identifier_msgs::msg::UUID & uuid, const bool safe, const double start_distance, const double finish_distance, const rclcpp::Time & stamp)
 ```
 
 #### Description
@@ -113,7 +113,7 @@ Nothing
 ### removeCooperateStatus
 
 ```c++
-rtc_interface::removeCooperateStatus(const unique_identifier_msgs::msg::UUID & uuid)
+autoware::rtc_interface::removeCooperateStatus(const unique_identifier_msgs::msg::UUID & uuid)
 ```
 
 #### Description
@@ -131,7 +131,7 @@ Nothing
 ### clearCooperateStatus
 
 ```c++
-rtc_interface::clearCooperateStatus()
+autoware::rtc_interface::clearCooperateStatus()
 ```
 
 #### Description
@@ -149,7 +149,7 @@ Nothing
 ### isActivated
 
 ```c++
-rtc_interface::isActivated(const unique_identifier_msgs::msg::UUID & uuid)
+autoware::rtc_interface::isActivated(const unique_identifier_msgs::msg::UUID & uuid)
 ```
 
 #### Description
@@ -169,7 +169,7 @@ If not, return `false`.
 ### isRegistered
 
 ```c++
-rtc_interface::isRegistered(const unique_identifier_msgs::msg::UUID & uuid)
+autoware::rtc_interface::isRegistered(const unique_identifier_msgs::msg::UUID & uuid)
 ```
 
 #### Description
diff --git a/planning/rtc_interface/include/rtc_interface/rtc_interface.hpp b/planning/autoware_rtc_interface/include/autoware_rtc_interface/rtc_interface.hpp
similarity index 94%
rename from planning/rtc_interface/include/rtc_interface/rtc_interface.hpp
rename to planning/autoware_rtc_interface/include/autoware_rtc_interface/rtc_interface.hpp
index 7ab796321e041..8b435a6f8ed51 100644
--- a/planning/rtc_interface/include/rtc_interface/rtc_interface.hpp
+++ b/planning/autoware_rtc_interface/include/autoware_rtc_interface/rtc_interface.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RTC_INTERFACE__RTC_INTERFACE_HPP_
-#define RTC_INTERFACE__RTC_INTERFACE_HPP_
+#ifndef AUTOWARE_RTC_INTERFACE__RTC_INTERFACE_HPP_
+#define AUTOWARE_RTC_INTERFACE__RTC_INTERFACE_HPP_
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -33,7 +33,7 @@
 #include <string>
 #include <vector>
 
-namespace rtc_interface
+namespace autoware::rtc_interface
 {
 using tier4_rtc_msgs::msg::AutoModeStatus;
 using tier4_rtc_msgs::msg::Command;
@@ -101,6 +101,6 @@ class RTCInterface
   mutable std::mutex mutex_;
 };
 
-}  // namespace rtc_interface
+}  // namespace autoware::rtc_interface
 
-#endif  // RTC_INTERFACE__RTC_INTERFACE_HPP_
+#endif  // AUTOWARE_RTC_INTERFACE__RTC_INTERFACE_HPP_
diff --git a/planning/rtc_interface/package.xml b/planning/autoware_rtc_interface/package.xml
similarity index 88%
rename from planning/rtc_interface/package.xml
rename to planning/autoware_rtc_interface/package.xml
index 753e4df13908e..d08467d8f15a9 100644
--- a/planning/rtc_interface/package.xml
+++ b/planning/autoware_rtc_interface/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>rtc_interface</name>
+  <name>autoware_rtc_interface</name>
   <version>0.1.0</version>
-  <description>The rtc_interface package</description>
+  <description>The autoware_rtc_interface package</description>
 
   <maintainer email="fumiya.watanabe@tier4.jp">Fumiya Watanabe</maintainer>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
diff --git a/planning/rtc_interface/src/rtc_interface.cpp b/planning/autoware_rtc_interface/src/rtc_interface.cpp
similarity index 98%
rename from planning/rtc_interface/src/rtc_interface.cpp
rename to planning/autoware_rtc_interface/src/rtc_interface.cpp
index 77fe29b41d893..3389d08b9015e 100644
--- a/planning/rtc_interface/src/rtc_interface.cpp
+++ b/planning/autoware_rtc_interface/src/rtc_interface.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rtc_interface/rtc_interface.hpp"
+#include "autoware_rtc_interface/rtc_interface.hpp"
 
 #include <chrono>
 
@@ -78,7 +78,7 @@ Module getModuleType(const std::string & module_name)
 
 }  // namespace
 
-namespace rtc_interface
+namespace autoware::rtc_interface
 {
 RTCInterface::RTCInterface(rclcpp::Node * node, const std::string & name, const bool enable_rtc)
 : clock_{node->get_clock()},
@@ -363,4 +363,4 @@ bool RTCInterface::isLocked() const
   return is_locked_;
 }
 
-}  // namespace rtc_interface
+}  // namespace autoware::rtc_interface
diff --git a/planning/behavior_path_avoidance_by_lane_change_module/package.xml b/planning/behavior_path_avoidance_by_lane_change_module/package.xml
index 1b11b6d8d445d..57e30bd628e08 100644
--- a/planning/behavior_path_avoidance_by_lane_change_module/package.xml
+++ b/planning/behavior_path_avoidance_by_lane_change_module/package.xml
@@ -20,13 +20,13 @@
 
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_behavior_path_static_obstacle_avoidance_module</depend>
+  <depend>autoware_rtc_interface</depend>
   <depend>behavior_path_lane_change_module</depend>
   <depend>behavior_path_planner</depend>
   <depend>lanelet2_extension</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>rtc_interface</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
diff --git a/planning/behavior_path_goal_planner_module/package.xml b/planning/behavior_path_goal_planner_module/package.xml
index c5201c1d2d9a2..75ca5c264b523 100644
--- a/planning/behavior_path_goal_planner_module/package.xml
+++ b/planning/behavior_path_goal_planner_module/package.xml
@@ -21,11 +21,11 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_behavior_path_planner_common</depend>
+  <depend>autoware_rtc_interface</depend>
   <depend>behavior_path_planner</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>rtc_interface</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
diff --git a/planning/behavior_path_lane_change_module/package.xml b/planning/behavior_path_lane_change_module/package.xml
index ee4089375376f..23fc8f61af2f3 100644
--- a/planning/behavior_path_lane_change_module/package.xml
+++ b/planning/behavior_path_lane_change_module/package.xml
@@ -20,11 +20,11 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_behavior_path_planner_common</depend>
+  <depend>autoware_rtc_interface</depend>
   <depend>behavior_path_planner</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>rtc_interface</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>