diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index f7c82383f96ba..b961597af4b7e 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -242,7 +242,7 @@ tools/reaction_analyzer/** berkay@leodrive.ai
 vehicle/accel_brake_map_calibrator/** taiki.tanaka@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp
 vehicle/external_cmd_converter/** takamasa.horibe@tier4.jp
 vehicle/raw_vehicle_cmd_converter/** makoto.kurihara@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp
-vehicle/steer_offset_estimator/** taiki.tanaka@tier4.jp
+vehicle/autoware_steer_offset_estimator/** taiki.tanaka@tier4.jp
 vehicle/vehicle_info_util/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 
 ### Copied from .github/CODEOWNERS-manual ###
diff --git a/vehicle/steer_offset_estimator/CMakeLists.txt b/vehicle/autoware_steer_offset_estimator/CMakeLists.txt
similarity index 86%
rename from vehicle/steer_offset_estimator/CMakeLists.txt
rename to vehicle/autoware_steer_offset_estimator/CMakeLists.txt
index eec8b2e24bec7..80ae467ed1f85 100644
--- a/vehicle/steer_offset_estimator/CMakeLists.txt
+++ b/vehicle/autoware_steer_offset_estimator/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(steer_offset_estimator)
+project(autoware_steer_offset_estimator)
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
@@ -18,7 +18,7 @@ ament_auto_add_library(steer_offset_estimator_node SHARED
 )
 
 rclcpp_components_register_node(steer_offset_estimator_node
-  PLUGIN "steer_offset_estimator::SteerOffsetEstimatorNode"
+  PLUGIN "autoware::steer_offset_estimator::SteerOffsetEstimatorNode"
   EXECUTABLE steer_offset_estimator
 )
 
diff --git a/vehicle/steer_offset_estimator/Readme.md b/vehicle/autoware_steer_offset_estimator/Readme.md
similarity index 100%
rename from vehicle/steer_offset_estimator/Readme.md
rename to vehicle/autoware_steer_offset_estimator/Readme.md
diff --git a/vehicle/steer_offset_estimator/config/steer_offset_estimator.param.yaml b/vehicle/autoware_steer_offset_estimator/config/steer_offset_estimator.param.yaml
similarity index 100%
rename from vehicle/steer_offset_estimator/config/steer_offset_estimator.param.yaml
rename to vehicle/autoware_steer_offset_estimator/config/steer_offset_estimator.param.yaml
diff --git a/vehicle/steer_offset_estimator/image/kinematic_constraints.png b/vehicle/autoware_steer_offset_estimator/image/kinematic_constraints.png
similarity index 100%
rename from vehicle/steer_offset_estimator/image/kinematic_constraints.png
rename to vehicle/autoware_steer_offset_estimator/image/kinematic_constraints.png
diff --git a/vehicle/steer_offset_estimator/image/steer_offset.png b/vehicle/autoware_steer_offset_estimator/image/steer_offset.png
similarity index 100%
rename from vehicle/steer_offset_estimator/image/steer_offset.png
rename to vehicle/autoware_steer_offset_estimator/image/steer_offset.png
diff --git a/vehicle/steer_offset_estimator/include/steer_offset_estimator/steer_offset_estimator_node.hpp b/vehicle/autoware_steer_offset_estimator/include/autoware_steer_offset_estimator/steer_offset_estimator_node.hpp
similarity index 87%
rename from vehicle/steer_offset_estimator/include/steer_offset_estimator/steer_offset_estimator_node.hpp
rename to vehicle/autoware_steer_offset_estimator/include/autoware_steer_offset_estimator/steer_offset_estimator_node.hpp
index afd1d0520e951..4e03cbe0162fe 100644
--- a/vehicle/steer_offset_estimator/include/steer_offset_estimator/steer_offset_estimator_node.hpp
+++ b/vehicle/autoware_steer_offset_estimator/include/autoware_steer_offset_estimator/steer_offset_estimator_node.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef STEER_OFFSET_ESTIMATOR__STEER_OFFSET_ESTIMATOR_NODE_HPP_
-#define STEER_OFFSET_ESTIMATOR__STEER_OFFSET_ESTIMATOR_NODE_HPP_
+#ifndef AUTOWARE_STEER_OFFSET_ESTIMATOR__STEER_OFFSET_ESTIMATOR_NODE_HPP_
+#define AUTOWARE_STEER_OFFSET_ESTIMATOR__STEER_OFFSET_ESTIMATOR_NODE_HPP_
 
 #include "diagnostic_updater/diagnostic_updater.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -24,7 +24,7 @@
 
 #include <memory>
 
-namespace steer_offset_estimator
+namespace autoware::steer_offset_estimator
 {
 using geometry_msgs::msg::TwistStamped;
 using tier4_debug_msgs::msg::Float32Stamped;
@@ -64,6 +64,6 @@ class SteerOffsetEstimatorNode : public rclcpp::Node
 public:
   explicit SteerOffsetEstimatorNode(const rclcpp::NodeOptions & node_options);
 };
-}  // namespace steer_offset_estimator
+}  // namespace autoware::steer_offset_estimator
 
-#endif  // STEER_OFFSET_ESTIMATOR__STEER_OFFSET_ESTIMATOR_NODE_HPP_
+#endif  // AUTOWARE_STEER_OFFSET_ESTIMATOR__STEER_OFFSET_ESTIMATOR_NODE_HPP_
diff --git a/vehicle/steer_offset_estimator/launch/steer_offset_estimator.launch.xml b/vehicle/autoware_steer_offset_estimator/launch/steer_offset_estimator.launch.xml
similarity index 77%
rename from vehicle/steer_offset_estimator/launch/steer_offset_estimator.launch.xml
rename to vehicle/autoware_steer_offset_estimator/launch/steer_offset_estimator.launch.xml
index 8b98537c75500..9ee05189a35d8 100644
--- a/vehicle/steer_offset_estimator/launch/steer_offset_estimator.launch.xml
+++ b/vehicle/autoware_steer_offset_estimator/launch/steer_offset_estimator.launch.xml
@@ -1,6 +1,6 @@
 <launch>
   <!-- Parameter -->
-  <arg name="config_file" default="$(find-pkg-share steer_offset_estimator)/config/steer_offset_estimator.param.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share autoware_steer_offset_estimator)/config/steer_offset_estimator.param.yaml"/>
 
   <!-- get wheel base from vehicle info -->
   <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py"/>
@@ -12,7 +12,7 @@
   </include>
 
   <!-- steer offset estimator -->
-  <node pkg="steer_offset_estimator" exec="steer_offset_estimator" name="steer_offset_estimator" output="screen">
+  <node pkg="autoware_steer_offset_estimator" exec="steer_offset_estimator" name="steer_offset_estimator" output="screen">
     <param from="$(var config_file)"/>
     <remap from="~/input/twist" to="$(var output_twist_topic)"/>
     <remap from="~/input/steer" to="/vehicle/status/steering_status"/>
diff --git a/vehicle/steer_offset_estimator/package.xml b/vehicle/autoware_steer_offset_estimator/package.xml
similarity index 95%
rename from vehicle/steer_offset_estimator/package.xml
rename to vehicle/autoware_steer_offset_estimator/package.xml
index 636d901d71ef5..4246f8dee8a4e 100644
--- a/vehicle/steer_offset_estimator/package.xml
+++ b/vehicle/autoware_steer_offset_estimator/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>steer_offset_estimator</name>
+  <name>autoware_steer_offset_estimator</name>
   <version>0.1.0</version>
   <description>The steer_offset_estimator</description>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
diff --git a/vehicle/steer_offset_estimator/schema/steer_offset_estimator.schema.json b/vehicle/autoware_steer_offset_estimator/schema/steer_offset_estimator.schema.json
similarity index 100%
rename from vehicle/steer_offset_estimator/schema/steer_offset_estimator.schema.json
rename to vehicle/autoware_steer_offset_estimator/schema/steer_offset_estimator.schema.json
diff --git a/vehicle/steer_offset_estimator/src/steer_offset_estimator_node.cpp b/vehicle/autoware_steer_offset_estimator/src/steer_offset_estimator_node.cpp
similarity index 95%
rename from vehicle/steer_offset_estimator/src/steer_offset_estimator_node.cpp
rename to vehicle/autoware_steer_offset_estimator/src/steer_offset_estimator_node.cpp
index 86c76dc6f2f26..fdb5fdb404c0c 100644
--- a/vehicle/steer_offset_estimator/src/steer_offset_estimator_node.cpp
+++ b/vehicle/autoware_steer_offset_estimator/src/steer_offset_estimator_node.cpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "steer_offset_estimator/steer_offset_estimator_node.hpp"
+#include "autoware_steer_offset_estimator/steer_offset_estimator_node.hpp"
 
 #include "vehicle_info_util/vehicle_info_util.hpp"
 
 #include <memory>
 #include <utility>
 
-namespace steer_offset_estimator
+namespace autoware::steer_offset_estimator
 {
 SteerOffsetEstimatorNode::SteerOffsetEstimatorNode(const rclcpp::NodeOptions & node_options)
 : Node("steer_offset_estimator", node_options)
@@ -137,7 +137,7 @@ void SteerOffsetEstimatorNode::onTimer()
     pub_steer_offset_cov_->publish(std::move(cov_msg));
   }
 }
-}  // namespace steer_offset_estimator
+}  // namespace autoware::steer_offset_estimator
 
 #include "rclcpp_components/register_node_macro.hpp"
-RCLCPP_COMPONENTS_REGISTER_NODE(steer_offset_estimator::SteerOffsetEstimatorNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::steer_offset_estimator::SteerOffsetEstimatorNode)