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 6b2a99ff93e9a..dafae0e919dab 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
@@ -70,7 +70,7 @@
     value="$(eval "'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::StartPlannerModuleManager, '")"
     if="$(var launch_start_planner_module)"
   />
-    <let
+  <let
     name="behavior_path_planner_launch_modules"
     value="$(eval &quot;'$(var behavior_path_planner_launch_modules)' + 'behavior_path_planner::SamplingPlannerModuleManager, '&quot;)"
     if="$(var launch_sampling_planner_module)"
diff --git a/planning/behavior_path_planner/package.xml b/planning/behavior_path_planner/package.xml
index 04c607df0af6c..b146ba91e6a3b 100644
--- a/planning/behavior_path_planner/package.xml
+++ b/planning/behavior_path_planner/package.xml
@@ -42,7 +42,9 @@
   <depend>autoware_auto_vehicle_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>behavior_path_planner_common</depend>
+  <depend>bezier_sampler</depend>
   <depend>freespace_planning_algorithms</depend>
+  <depend>frenet_planner</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
   <depend>lane_departure_checker</depend>
@@ -52,6 +54,7 @@
   <depend>magic_enum</depend>
   <depend>motion_utils</depend>
   <depend>object_recognition_utils</depend>
+  <depend>path_sampler</depend>
   <depend>planning_test_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
@@ -66,10 +69,6 @@
   <depend>tier4_planning_msgs</depend>
   <depend>vehicle_info_util</depend>
   <depend>visualization_msgs</depend>
-  <depend>bezier_sampler</depend>
-  <depend>frenet_planner</depend>
-  <depend>path_sampler</depend>
-
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/constraints_checker.hpp b/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/constraints_checker.hpp
index 056f0745f317c..435d3b1064aa5 100644
--- a/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/constraints_checker.hpp
+++ b/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/constraints_checker.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SAMPLING_PLANNER__CONSTRAINTS_CHECKER_HPP_
-#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SAMPLING_PLANNER__CONSTRAINTS_CHECKER_HPP_
+#ifndef BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__CONSTRAINTS_CHECKER_HPP_
+#define BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__CONSTRAINTS_CHECKER_HPP_
 
 #include "sampler_common/structures.hpp"
 
@@ -111,4 +111,4 @@ bool checkHardConstraints(
 //   ~SoftConstraintsChecker(){};
 // };
 
-#endif  // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SAMPLING_PLANNER__CONSTRAINTS_CHECKER_HPP_
+#endif  // BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__CONSTRAINTS_CHECKER_HPP_
diff --git a/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/manager.hpp b/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/manager.hpp
index ebf676a6b8649..43177ded3e062 100644
--- a/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/manager.hpp
+++ b/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/manager.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SAMPLING_PLANNER__MANAGER_HPP_
-#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SAMPLING_PLANNER__MANAGER_HPP_
+#ifndef BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__MANAGER_HPP_
+#define BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__MANAGER_HPP_
 
 #include "behavior_path_planner_common/interface/scene_module_manager_interface.hpp"
 #include "behavior_path_sampling_planner_module/sampling_planner_module.hpp"
@@ -51,4 +51,4 @@ class SamplingPlannerModuleManager : public SceneModuleManagerInterface
 
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SAMPLING_PLANNER__MANAGER_HPP_
+#endif  // BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__MANAGER_HPP_
diff --git a/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/sampling_planner_module.hpp b/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/sampling_planner_module.hpp
index 4a6637fce7cd5..481d063e2a57e 100644
--- a/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/sampling_planner_module.hpp
+++ b/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/sampling_planner_module.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SAMPLING_PLANNER__SAMPLING_PLANNER_MODULE_HPP_
-#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SAMPLING_PLANNER__SAMPLING_PLANNER_MODULE_HPP_
+#ifndef BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_MODULE_HPP_
+#define BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_MODULE_HPP_
 
 #include "behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "behavior_path_planner_common/marker_utils/utils.hpp"
@@ -271,4 +271,4 @@ class SamplingPlannerModule : public SceneModuleInterface
 
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SAMPLING_PLANNER__SAMPLING_PLANNER_MODULE_HPP_
+#endif  // BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_MODULE_HPP_
diff --git a/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/sampling_planner_parameters.hpp b/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/sampling_planner_parameters.hpp
index 56eeb0b2a3455..b4f0420ad7228 100644
--- a/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/sampling_planner_parameters.hpp
+++ b/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/sampling_planner_parameters.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SAMPLING_PLANNER__PARAMETERS_HPP_
-#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SAMPLING_PLANNER__PARAMETERS_HPP_
+#ifndef BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_PARAMETERS_HPP_
+#define BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_PARAMETERS_HPP_
 
 #include "bezier_sampler/bezier_sampling.hpp"
 #include "sampler_common/structures.hpp"
@@ -83,4 +83,4 @@ struct SamplingPlannerInternalParameters
   } preprocessing{};
 };
 }  // namespace behavior_path_planner
-#endif  // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SAMPLING_PLANNER__PARAMETERS_HPP_
+#endif  // BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__SAMPLING_PLANNER_PARAMETERS_HPP_
diff --git a/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/util.hpp b/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/util.hpp
index 3103702788a15..056d1a3f8a7ef 100644
--- a/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/util.hpp
+++ b/planning/behavior_path_sampling_planner_module/include/behavior_path_sampling_planner_module/util.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef BEHAVIOR_PATH_PLANNER__UTILS__SAMPLING_PLANNER__UTIL_HPP_
-#define BEHAVIOR_PATH_PLANNER__UTILS__SAMPLING_PLANNER__UTIL_HPP_
+#ifndef BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__UTIL_HPP_
+#define BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__UTIL_HPP_
 #include "sampler_common/structures.hpp"
 #include "sampler_common/transform/spline_transform.hpp"
 
@@ -104,4 +104,4 @@ inline sampler_common::State getInitialState(
 
 }  // namespace behavior_path_planner
 
-#endif  // BEHAVIOR_PATH_PLANNER__UTILS__SAMPLING_PLANNER__UTIL_HPP_
+#endif  // BEHAVIOR_PATH_SAMPLING_PLANNER_MODULE__UTIL_HPP_
diff --git a/planning/behavior_path_sampling_planner_module/package.xml b/planning/behavior_path_sampling_planner_module/package.xml
index c9b64a53bee43..6a40c89e2d307 100644
--- a/planning/behavior_path_sampling_planner_module/package.xml
+++ b/planning/behavior_path_sampling_planner_module/package.xml
@@ -8,7 +8,6 @@
   <maintainer email="daniel.sanchez@tier4.jp">Daniel Sanchez</maintainer>
   <maintainer email="maxime.clement@tier4.jp">Maxime Clement</maintainer>
 
-
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
@@ -22,7 +21,9 @@
   <depend>autoware_auto_vehicle_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>behavior_path_planner_common</depend>
+  <depend>bezier_sampler</depend>
   <depend>freespace_planning_algorithms</depend>
+  <depend>frenet_planner</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
   <depend>lane_departure_checker</depend>
@@ -32,6 +33,7 @@
   <depend>magic_enum</depend>
   <depend>motion_utils</depend>
   <depend>object_recognition_utils</depend>
+  <depend>path_sampler</depend>
   <depend>planning_test_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
@@ -47,9 +49,6 @@
   <depend>tier4_planning_msgs</depend>
   <depend>vehicle_info_util</depend>
   <depend>visualization_msgs</depend>
-  <depend>bezier_sampler</depend>
-  <depend>frenet_planner</depend>
-  <depend>path_sampler</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>