diff --git a/perception/probabilistic_occupancy_grid_map/include/cost_value.hpp b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/cost_value.hpp
similarity index 95%
rename from perception/probabilistic_occupancy_grid_map/include/cost_value.hpp
rename to perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/cost_value.hpp
index e0f18cedcdff1..880297a1210ed 100644
--- a/perception/probabilistic_occupancy_grid_map/include/cost_value.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/cost_value.hpp
@@ -48,8 +48,8 @@
  * Author: Eitan Marder-Eppstein
  *********************************************************************/
 
-#ifndef COST_VALUE_HPP_
-#define COST_VALUE_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE_HPP_
 
 #include <algorithm>
 
@@ -103,4 +103,4 @@ static const CostTranslationTable cost_translation_table;
 static const InverseCostTranslationTable inverse_cost_translation_table;
 }  // namespace occupancy_cost_value
 
-#endif  // COST_VALUE_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__COST_VALUE_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/fusion/single_frame_fusion_policy.hpp b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp
similarity index 88%
rename from perception/probabilistic_occupancy_grid_map/include/fusion/single_frame_fusion_policy.hpp
rename to perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp
index 13829b4910d96..1f0553878ef5a 100644
--- a/perception/probabilistic_occupancy_grid_map/include/fusion/single_frame_fusion_policy.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
-#define FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
 
-#include "cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
 
 #include <cmath>
 #include <iostream>
@@ -63,4 +63,4 @@ unsigned char singleFrameOccupancyFusion(
   const std::vector<double> & reliability);
 }  // namespace fusion_policy
 
-#endif  // FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SINGLE_FRAME_FUSION_POLICY_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/fusion/synchronized_grid_map_fusion_node.hpp b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp
similarity index 85%
rename from perception/probabilistic_occupancy_grid_map/include/fusion/synchronized_grid_map_fusion_node.hpp
rename to perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp
index 6bea5b2a16f72..cd12c6f96b99a 100644
--- a/perception/probabilistic_occupancy_grid_map/include/fusion/synchronized_grid_map_fusion_node.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
-#define FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
 
-#include "fusion/single_frame_fusion_policy.hpp"
-#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp"
-#include "updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp"
-#include "updater/occupancy_grid_map_updater_interface.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
 
 #include <builtin_interfaces/msg/time.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -124,4 +124,4 @@ class GridMapFusionNode : public rclcpp::Node
 
 }  // namespace synchronized_grid_map_fusion
 
-#endif  // FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__FUSION__SYNCHRONIZED_GRID_MAP_FUSION_NODE_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp
similarity index 84%
rename from perception/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp
rename to perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp
index 3a0f1f5ea7433..a8adea6e700e5 100644
--- a/perception/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
-#define LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
 
-#include "laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp"
-#include "updater/occupancy_grid_map_binary_bayes_filter_updater.hpp"
-#include "updater/occupancy_grid_map_updater_interface.hpp"
+#include "probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp"
+#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp"
+#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
 
 #include <builtin_interfaces/msg/time.hpp>
 #include <laser_geometry/laser_geometry.hpp>
@@ -102,4 +102,4 @@ class LaserscanBasedOccupancyGridMapNode : public rclcpp::Node
 
 }  // namespace occupancy_grid_map
 
-#endif  // LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp
similarity index 92%
rename from perception/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp
rename to perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp
index a9bbc3fda6ab4..d2210cf9c348a 100644
--- a/perception/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp
@@ -49,8 +49,8 @@
  *         David V. Lu!!
  *********************************************************************/
 
-#ifndef LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
-#define LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
 
 #include <nav2_costmap_2d/costmap_2d.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -91,4 +91,4 @@ class OccupancyGridMap : public nav2_costmap_2d::Costmap2D
 
 }  // namespace costmap_2d
 
-#endif  // LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__LASERSCAN_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp
similarity index 92%
rename from perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp
rename to perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp
index 8f8e1e503d388..f01b2d74e160b 100644
--- a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp
@@ -49,8 +49,8 @@
  *         David V. Lu!!
  *********************************************************************/
 
-#ifndef POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
-#define POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
 
 #include <nav2_costmap_2d/costmap_2d.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -92,4 +92,4 @@ class OccupancyGridMapInterface : public nav2_costmap_2d::Costmap2D
 
 }  // namespace costmap_2d
 
-#endif  // POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_BASE_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp
similarity index 75%
rename from perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp
rename to perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp
index 5755cd2c889be..298f327d632d7 100644
--- a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
-#define POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
 
-#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
 
 namespace costmap_2d
 {
@@ -44,4 +44,4 @@ class OccupancyGridMapFixedBlindSpot : public OccupancyGridMapInterface
 
 }  // namespace costmap_2d
 
-#endif  // POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_FIXED_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp
similarity index 78%
rename from perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp
rename to perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp
index bc278772e9737..67b51d6184c8c 100644
--- a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
-#define POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
 
-#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
 
 #include <grid_map_core/GridMap.hpp>
 
@@ -52,4 +52,4 @@ class OccupancyGridMapProjectiveBlindSpot : public OccupancyGridMapInterface
 
 }  // namespace costmap_2d
 
-#endif  // POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__OCCUPANCY_GRID_MAP_PROJECTIVE_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp
similarity index 83%
rename from perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp
rename to perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp
index e34899bb98b0c..93486e0ca56af 100644
--- a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
-#define POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
 
-#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
-#include "updater/occupancy_grid_map_binary_bayes_filter_updater.hpp"
-#include "updater/occupancy_grid_map_updater_interface.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
+#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp"
+#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
 
 #include <builtin_interfaces/msg/time.hpp>
 #include <laser_geometry/laser_geometry.hpp>
@@ -95,4 +95,4 @@ class PointcloudBasedOccupancyGridMapNode : public rclcpp::Node
 
 }  // namespace occupancy_grid_map
 
-#endif  // POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP__POINTCLOUD_BASED_OCCUPANCY_GRID_MAP_NODE_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp
similarity index 75%
rename from perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp
rename to perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp
index d8f3cb6556bf2..3a921035ef219 100644
--- a/perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
-#define UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
 
-#include "updater/occupancy_grid_map_updater_interface.hpp"
+#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -39,4 +39,4 @@ class OccupancyGridMapBBFUpdater : public OccupancyGridMapUpdaterInterface
 
 }  // namespace costmap_2d
 
-#endif  // UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_BINARY_BAYES_FILTER_UPDATER_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp
similarity index 67%
rename from perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp
rename to perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp
index 306f8988acab7..0bfbe7d6e2232 100644
--- a/perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
-#define UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
 
-#include "fusion/single_frame_fusion_policy.hpp"
-#include "updater/occupancy_grid_map_updater_interface.hpp"
-#include "utils/utils.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/utils/utils.hpp"
 
 #include <eigen3/Eigen/Core>
 #include <eigen3/Eigen/Geometry>
@@ -45,4 +45,4 @@ class OccupancyGridMapLOBFUpdater : public OccupancyGridMapUpdaterInterface
 
 }  // namespace costmap_2d
 
-#endif  // UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_LOG_ODDS_BAYES_FILTER_UPDATER_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_updater_interface.hpp b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp
similarity index 78%
rename from perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_updater_interface.hpp
rename to perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp
index 9305313ddc2fc..e85edf2245ef3 100644
--- a/perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_updater_interface.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
-#define UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
 
-#include "cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
 
 #include <nav2_costmap_2d/costmap_2d.hpp>
 #include <rclcpp/node.hpp>
@@ -38,4 +38,4 @@ class OccupancyGridMapUpdaterInterface : public nav2_costmap_2d::Costmap2D
 
 }  // namespace costmap_2d
 
-#endif  // UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__UPDATER__OCCUPANCY_GRID_MAP_UPDATER_INTERFACE_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/include/utils/utils.hpp b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/utils/utils.hpp
similarity index 93%
rename from perception/probabilistic_occupancy_grid_map/include/utils/utils.hpp
rename to perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/utils/utils.hpp
index 46bd14b843dae..0950272dac470 100644
--- a/perception/probabilistic_occupancy_grid_map/include/utils/utils.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/utils/utils.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef UTILS__UTILS_HPP_
-#define UTILS__UTILS_HPP_
+#ifndef PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
+#define PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
 
-#include "cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
 
 #include <builtin_interfaces/msg/time.hpp>
 #include <pcl_ros/transforms.hpp>
@@ -119,4 +119,4 @@ bool extractCommonPointCloud(
 unsigned char getApproximateOccupancyState(const unsigned char & value);
 }  // namespace utils
 
-#endif  // UTILS__UTILS_HPP_
+#endif  // PROBABILISTIC_OCCUPANCY_GRID_MAP__UTILS__UTILS_HPP_
diff --git a/perception/probabilistic_occupancy_grid_map/src/fusion/single_frame_fusion_policy.cpp b/perception/probabilistic_occupancy_grid_map/src/fusion/single_frame_fusion_policy.cpp
index 75e8791a04bca..6ac681eff4916 100644
--- a/perception/probabilistic_occupancy_grid_map/src/fusion/single_frame_fusion_policy.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/fusion/single_frame_fusion_policy.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "fusion/single_frame_fusion_policy.hpp"
+#include "probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp"
 
 namespace fusion_policy
 {
diff --git a/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp b/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp
index 6738286ae5592..a88e65e712ac1 100644
--- a/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "fusion/synchronized_grid_map_fusion_node.hpp"
+#include "probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp"
 
-#include "cost_value.hpp"
-#include "utils/utils.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 namespace synchronized_grid_map_fusion
 {
diff --git a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp
index b4505eedddd21..777c180fe1a3a 100644
--- a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp"
+#include "probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp"
 
-#include "cost_value.hpp"
-#include "utils/utils.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <pcl_ros/transforms.hpp>
 
diff --git a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp
index 59f562cb58f35..3d02be9ca7156 100644
--- a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp
@@ -49,9 +49,9 @@
  *         David V. Lu!!
  *********************************************************************/
 
-#include "laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp"
+#include "probabilistic_occupancy_grid_map/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp"
 
-#include "cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
 
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp
index 8652cfa34d96c..3d176e41583a0 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.cpp
@@ -49,10 +49,10 @@
  *         David V. Lu!!
  *********************************************************************/
 
-#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp"
 
-#include "cost_value.hpp"
-#include "utils/utils.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <grid_map_costmap_2d/grid_map_costmap_2d.hpp>
 #include <pcl_ros/transforms.hpp>
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
index 56aeea30e0773..00b3e42fdf392 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp"
 
-#include "cost_value.hpp"
-#include "utils/utils.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <grid_map_costmap_2d/grid_map_costmap_2d.hpp>
 #include <pcl_ros/transforms.hpp>
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
index 20a5770e37fdb..64b76a2488e24 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp"
 
-#include "cost_value.hpp"
-#include "utils/utils.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <grid_map_costmap_2d/grid_map_costmap_2d.hpp>
 #include <grid_map_ros/grid_map_ros.hpp>
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
index f6369602b8890..82da92da7f146 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp"
 
-#include "cost_value.hpp"
-#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp"
-#include "pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp"
-#include "utils/utils.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp"
+#include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp"
+#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <pcl_ros/transforms.hpp>
 #include <tier4_autoware_utils/ros/debug_publisher.hpp>
diff --git a/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp b/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp
index 16de17b1c2e61..40f538a64f6e9 100644
--- a/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "updater/occupancy_grid_map_binary_bayes_filter_updater.hpp"
+#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp"
 
-#include "cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
 
 #include <algorithm>
 
diff --git a/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_log_odds_bayes_filter_updater.cpp b/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_log_odds_bayes_filter_updater.cpp
index e45f3d0686fbc..f3e306f262bf0 100644
--- a/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_log_odds_bayes_filter_updater.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_log_odds_bayes_filter_updater.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp"
+#include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp"
 
-#include "cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
 
 #include <algorithm>
 
diff --git a/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp b/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp
index b876004d89b0a..8009a503167ea 100644
--- a/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "utils/utils.hpp"
+#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
 
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 
diff --git a/perception/probabilistic_occupancy_grid_map/test/cost_value_test.cpp b/perception/probabilistic_occupancy_grid_map/test/cost_value_test.cpp
index baf94fabfd2a1..c41c809a92b0c 100644
--- a/perception/probabilistic_occupancy_grid_map/test/cost_value_test.cpp
+++ b/perception/probabilistic_occupancy_grid_map/test/cost_value_test.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
 
-#include "gtest/gtest.h"
+#include <gtest/gtest.h>
 
 // Test the CostTranslationTable and InverseCostTranslationTable functions
 using occupancy_cost_value::cost_translation_table;
diff --git a/perception/probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp b/perception/probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp
index 2501a361fba58..6b3dc8a2ebcef 100644
--- a/perception/probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp
+++ b/perception/probabilistic_occupancy_grid_map/test/fusion_policy_test.cpp
@@ -12,9 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "cost_value.hpp"
-#include "fusion/single_frame_fusion_policy.hpp"
-#include "gtest/gtest.h"
+#include "probabilistic_occupancy_grid_map/cost_value.hpp"
+#include "probabilistic_occupancy_grid_map/fusion/single_frame_fusion_policy.hpp"
+
+#include <gtest/gtest.h>
 
 // Test the log-odds update rule
 TEST(FusionPolicyTest, TestLogOddsUpdateRule)
diff --git a/perception/probabilistic_occupancy_grid_map/test/test_utils.cpp b/perception/probabilistic_occupancy_grid_map/test/test_utils.cpp
index 367dcee807e7b..4bc3dca0a67bd 100644
--- a/perception/probabilistic_occupancy_grid_map/test/test_utils.cpp
+++ b/perception/probabilistic_occupancy_grid_map/test/test_utils.cpp
@@ -12,6 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+// autoware
+#include "probabilistic_occupancy_grid_map/utils/utils.hpp"
+
 #include <gtest/gtest.h>
 
 #include <memory>
@@ -21,9 +24,6 @@
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
 
-// autoware
-#include "utils/utils.hpp"
-
 // create pointcloud function
 pcl::PointCloud<pcl::PointXYZ> createPCLPointCloudWithIteratedHeight(const size_t width)
 {