diff --git a/perception/radar_crossing_objects_noise_filter/CMakeLists.txt b/perception/radar_crossing_objects_noise_filter/CMakeLists.txt
index bf4a46cda7ae6..6414739413d5c 100644
--- a/perception/radar_crossing_objects_noise_filter/CMakeLists.txt
+++ b/perception/radar_crossing_objects_noise_filter/CMakeLists.txt
@@ -6,12 +6,12 @@ find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 # Targets
-ament_auto_add_library(radar_crossing_objects_noise_filter_node_component SHARED
-  src/radar_crossing_objects_noise_filter_node/radar_crossing_objects_noise_filter_node.cpp
+ament_auto_add_library(${PROJECT_NAME}_node_component SHARED
+  src/radar_crossing_objects_noise_filter_node.cpp
 )
 
-rclcpp_components_register_node(radar_crossing_objects_noise_filter_node_component
-  PLUGIN "radar_crossing_objects_noise_filter::RadarCrossingObjectsNoiseFilterNode"
+rclcpp_components_register_node(${PROJECT_NAME}_node_component
+  PLUGIN "autoware::radar_crossing_objects_noise_filter::RadarCrossingObjectsNoiseFilterNode"
   EXECUTABLE radar_crossing_objects_noise_filter_node
 )
 
@@ -23,10 +23,10 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 
   file(GLOB_RECURSE test_files test/**/*.cpp)
-  ament_add_ros_isolated_gtest(radar_crossing_objects_noise_filter ${test_files})
+  ament_add_ros_isolated_gtest(${PROJECT_NAME} ${test_files})
 
-  target_link_libraries(radar_crossing_objects_noise_filter
-    radar_crossing_objects_noise_filter_node_component
+  target_link_libraries(${PROJECT_NAME}
+    ${PROJECT_NAME}_node_component
   )
 endif()
 
diff --git a/perception/radar_crossing_objects_noise_filter/package.xml b/perception/radar_crossing_objects_noise_filter/package.xml
index 0db40b24e809c..d0245dfe62a40 100644
--- a/perception/radar_crossing_objects_noise_filter/package.xml
+++ b/perception/radar_crossing_objects_noise_filter/package.xml
@@ -16,7 +16,6 @@
 
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_universe_utils</depend>
-  <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
diff --git a/perception/radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node/radar_crossing_objects_noise_filter_node.cpp b/perception/radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node.cpp
similarity index 94%
rename from perception/radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node/radar_crossing_objects_noise_filter_node.cpp
rename to perception/radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node.cpp
index 2f5884c04ce37..13231b83bf27b 100644
--- a/perception/radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node/radar_crossing_objects_noise_filter_node.cpp
+++ b/perception/radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter_node.hpp"
+#include "radar_crossing_objects_noise_filter_node.hpp"
 
 #include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware/universe_utils/math/normalization.hpp"
@@ -50,7 +50,7 @@ bool update_param(
 }
 }  // namespace
 
-namespace radar_crossing_objects_noise_filter
+namespace autoware::radar_crossing_objects_noise_filter
 {
 using autoware_perception_msgs::msg::DetectedObject;
 using autoware_perception_msgs::msg::DetectedObjects;
@@ -142,8 +142,8 @@ bool RadarCrossingObjectsNoiseFilterNode::isNoise(const DetectedObject & object)
   }
 }
 
-}  // namespace radar_crossing_objects_noise_filter
+}  // namespace autoware::radar_crossing_objects_noise_filter
 
 #include "rclcpp_components/register_node_macro.hpp"
 RCLCPP_COMPONENTS_REGISTER_NODE(
-  radar_crossing_objects_noise_filter::RadarCrossingObjectsNoiseFilterNode)
+  autoware::radar_crossing_objects_noise_filter::RadarCrossingObjectsNoiseFilterNode)
diff --git a/perception/radar_crossing_objects_noise_filter/include/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter_node.hpp b/perception/radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node.hpp
similarity index 82%
rename from perception/radar_crossing_objects_noise_filter/include/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter_node.hpp
rename to perception/radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node.hpp
index fbd64c884d396..6e389f563a138 100644
--- a/perception/radar_crossing_objects_noise_filter/include/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter_node.hpp
+++ b/perception/radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RADAR_CROSSING_OBJECTS_NOISE_FILTER__RADAR_CROSSING_OBJECTS_NOISE_FILTER_NODE_HPP_
-#define RADAR_CROSSING_OBJECTS_NOISE_FILTER__RADAR_CROSSING_OBJECTS_NOISE_FILTER_NODE_HPP_
+#ifndef RADAR_CROSSING_OBJECTS_NOISE_FILTER_NODE_HPP_
+#define RADAR_CROSSING_OBJECTS_NOISE_FILTER_NODE_HPP_
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -23,7 +23,7 @@
 #include <memory>
 #include <vector>
 
-namespace radar_crossing_objects_noise_filter
+namespace autoware::radar_crossing_objects_noise_filter
 {
 using autoware_perception_msgs::msg::DetectedObject;
 using autoware_perception_msgs::msg::DetectedObjects;
@@ -63,6 +63,6 @@ class RadarCrossingObjectsNoiseFilterNode : public rclcpp::Node
   bool isNoise(const DetectedObject & object);
 };
 
-}  // namespace radar_crossing_objects_noise_filter
+}  // namespace autoware::radar_crossing_objects_noise_filter
 
-#endif  // RADAR_CROSSING_OBJECTS_NOISE_FILTER__RADAR_CROSSING_OBJECTS_NOISE_FILTER_NODE_HPP_
+#endif  // RADAR_CROSSING_OBJECTS_NOISE_FILTER_NODE_HPP_
diff --git a/perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp b/perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp
index 44ccaae8ee7fc..93475af7b3628 100644
--- a/perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp
+++ b/perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp
@@ -12,24 +12,24 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "../../src/radar_crossing_objects_noise_filter_node.hpp"
 #include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware/universe_utils/math/unit_conversion.hpp"
-#include "radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter_node.hpp"
 
 #include <geometry_msgs/msg/point32.hpp>
 
 #include <gtest/gtest.h>
 
-std::shared_ptr<radar_crossing_objects_noise_filter::RadarCrossingObjectsNoiseFilterNode> get_node(
-  double angle_threshold, double velocity_threshold)
+std::shared_ptr<autoware::radar_crossing_objects_noise_filter::RadarCrossingObjectsNoiseFilterNode>
+get_node(double angle_threshold, double velocity_threshold)
 {
   rclcpp::NodeOptions node_options;
 
   node_options.parameter_overrides(
     {{"angle_threshold", angle_threshold}, {"velocity_threshold", velocity_threshold}});
-  auto node =
-    std::make_shared<radar_crossing_objects_noise_filter::RadarCrossingObjectsNoiseFilterNode>(
-      node_options);
+  auto node = std::make_shared<
+    autoware::radar_crossing_objects_noise_filter::RadarCrossingObjectsNoiseFilterNode>(
+    node_options);
   return node;
 }