diff --git a/common/polar_grid/CMakeLists.txt b/common/autoware_polar_grid/CMakeLists.txt
similarity index 85%
rename from common/polar_grid/CMakeLists.txt
rename to common/autoware_polar_grid/CMakeLists.txt
index 9932dc594d552..efa068a3f64a4 100644
--- a/common/polar_grid/CMakeLists.txt
+++ b/common/autoware_polar_grid/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(polar_grid)
+project(autoware_polar_grid)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -10,12 +10,12 @@ set(CMAKE_AUTOMOC ON)
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 add_definitions(-DQT_NO_KEYWORDS)
 
-ament_auto_add_library(polar_grid SHARED
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/polar_grid_display.cpp
   src/polar_grid_display.hpp
 )
 
-target_link_libraries(polar_grid
+target_link_libraries(${PROJECT_NAME}
   ${QT_LIBRARIES}
 )
 
diff --git a/common/polar_grid/Readme.md b/common/autoware_polar_grid/Readme.md
similarity index 100%
rename from common/polar_grid/Readme.md
rename to common/autoware_polar_grid/Readme.md
diff --git a/common/polar_grid/icons/classes/PolarGridDisplay.png b/common/autoware_polar_grid/icons/classes/PolarGridDisplay.png
similarity index 100%
rename from common/polar_grid/icons/classes/PolarGridDisplay.png
rename to common/autoware_polar_grid/icons/classes/PolarGridDisplay.png
diff --git a/common/polar_grid/package.xml b/common/autoware_polar_grid/package.xml
similarity index 90%
rename from common/polar_grid/package.xml
rename to common/autoware_polar_grid/package.xml
index ece156669c85b..3b376b3a75185 100644
--- a/common/polar_grid/package.xml
+++ b/common/autoware_polar_grid/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>polar_grid</name>
+  <name>autoware_polar_grid</name>
   <version>0.1.0</version>
-  <description>The polar_grid package</description>
+  <description>The autoware_polar_grid package</description>
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
   <license>Apache License 2.0</license>
 
diff --git a/common/polar_grid/plugins/plugin_description.xml b/common/autoware_polar_grid/plugins/plugin_description.xml
similarity index 81%
rename from common/polar_grid/plugins/plugin_description.xml
rename to common/autoware_polar_grid/plugins/plugin_description.xml
index 1ccaf8725d4de..a09fb5ed6a5d4 100644
--- a/common/polar_grid/plugins/plugin_description.xml
+++ b/common/autoware_polar_grid/plugins/plugin_description.xml
@@ -1,4 +1,4 @@
-<library path="polar_grid">
+<library path="autoware_polar_grid">
   <class name="rviz_plugins/PolarGridDisplay"
          type="rviz_plugins::PolarGridDisplay"
          base_class_type="rviz_common::Display">
diff --git a/common/polar_grid/src/polar_grid_display.cpp b/common/autoware_polar_grid/src/polar_grid_display.cpp
similarity index 100%
rename from common/polar_grid/src/polar_grid_display.cpp
rename to common/autoware_polar_grid/src/polar_grid_display.cpp
diff --git a/common/polar_grid/src/polar_grid_display.hpp b/common/autoware_polar_grid/src/polar_grid_display.hpp
similarity index 100%
rename from common/polar_grid/src/polar_grid_display.hpp
rename to common/autoware_polar_grid/src/polar_grid_display.hpp