diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 5f5d5008c0f1c..9af5404a359a0 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -148,6 +148,7 @@ perception/traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhon
 perception/traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier4.jp
 planning/autoware_behavior_path_external_request_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
 planning/autoware_behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
+planning/autoware_behavior_velocity_template_module/** daniel.sanchez@tier4.jp
 planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp
 planning/autoware_remaining_distance_time_calculator/** ahmed.ebrahim@leodrive.ai
 planning/autoware_static_centerline_generator/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp
@@ -174,7 +175,6 @@ planning/behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.taka
 planning/behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp
-planning/behavior_velocity_template_module/** daniel.sanchez@tier4.jp
 planning/behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
diff --git a/planning/.pages b/planning/.pages
index e355639eb8da5..574cc182cf424 100644
--- a/planning/.pages
+++ b/planning/.pages
@@ -19,7 +19,7 @@ nav:
         - 'Start Planner': planning/behavior_path_start_planner_module
   - 'Behavior Velocity Planner':
     - 'About Behavior Velocity': planning/autoware_behavior_velocity_planner
-    - 'Template for Custom Module': planning/behavior_velocity_template_module
+    - 'Template for Custom Module': planning/autoware_behavior_velocity_template_module
     - 'Available Module':
         - 'Blind Spot': planning/behavior_velocity_blind_spot_module
         - 'Crosswalk': planning/behavior_velocity_crosswalk_module
diff --git a/planning/autoware_behavior_velocity_planner/package.xml b/planning/autoware_behavior_velocity_planner/package.xml
index 573d862f1725b..c97a83fbff644 100644
--- a/planning/autoware_behavior_velocity_planner/package.xml
+++ b/planning/autoware_behavior_velocity_planner/package.xml
@@ -80,7 +80,7 @@
   <test_depend>behavior_velocity_traffic_light_module</test_depend>
   <test_depend>behavior_velocity_virtual_traffic_light_module</test_depend>
   <test_depend>behavior_velocity_walkway_module</test_depend>
-  <!--<test_depend>behavior_velocity_template_module</test_depend>-->
+  <!--<test_depend>autoware_behavior_velocity_template_module</test_depend>-->
 
   <member_of_group>rosidl_interface_packages</member_of_group>
 
diff --git a/planning/behavior_velocity_template_module/CMakeLists.txt b/planning/autoware_behavior_velocity_template_module/CMakeLists.txt
similarity index 85%
rename from planning/behavior_velocity_template_module/CMakeLists.txt
rename to planning/autoware_behavior_velocity_template_module/CMakeLists.txt
index 103a3d0a4ceb3..88e6167dd4433 100644
--- a/planning/behavior_velocity_template_module/CMakeLists.txt
+++ b/planning/autoware_behavior_velocity_template_module/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(behavior_velocity_template_module)
+project(autoware_behavior_velocity_template_module)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
diff --git a/planning/behavior_velocity_template_module/README.md b/planning/autoware_behavior_velocity_template_module/README.md
similarity index 98%
rename from planning/behavior_velocity_template_module/README.md
rename to planning/autoware_behavior_velocity_template_module/README.md
index 1995b3e040061..2cc3e6db8a555 100644
--- a/planning/behavior_velocity_template_module/README.md
+++ b/planning/autoware_behavior_velocity_template_module/README.md
@@ -41,7 +41,7 @@ The managing of your modules is defined in manager.hpp and manager.cpp. The mana
 #### Constructor `TemplateModuleManager`
 
 - This is the constructor of the `TemplateModuleManager` class, and it takes an `rclcpp::Node` reference as a parameter.
-- It initializes a member variable `dummy_parameter` to 0.0.
+- It initializes a member variable `dummy_parameter_` to 0.0.
 
 #### `getModuleName()` Method
 
diff --git a/planning/behavior_velocity_template_module/config/template.param.yaml b/planning/autoware_behavior_velocity_template_module/config/template.param.yaml
similarity index 100%
rename from planning/behavior_velocity_template_module/config/template.param.yaml
rename to planning/autoware_behavior_velocity_template_module/config/template.param.yaml
diff --git a/planning/behavior_velocity_template_module/package.xml b/planning/autoware_behavior_velocity_template_module/package.xml
similarity index 88%
rename from planning/behavior_velocity_template_module/package.xml
rename to planning/autoware_behavior_velocity_template_module/package.xml
index 93a1cb4042e93..fa3b20f5b5af8 100644
--- a/planning/behavior_velocity_template_module/package.xml
+++ b/planning/autoware_behavior_velocity_template_module/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>behavior_velocity_template_module</name>
+  <name>autoware_behavior_velocity_template_module</name>
   <version>0.1.0</version>
-  <description>The behavior_velocity_template_module package</description>
+  <description>The autoware_behavior_velocity_template_module package</description>
 
   <maintainer email="daniel.sanchez@tier4.jp">Daniel Sanchez</maintainer>
 
diff --git a/planning/autoware_behavior_velocity_template_module/plugins.xml b/planning/autoware_behavior_velocity_template_module/plugins.xml
new file mode 100644
index 0000000000000..54aa67a9228bc
--- /dev/null
+++ b/planning/autoware_behavior_velocity_template_module/plugins.xml
@@ -0,0 +1,3 @@
+<library path="autoware_behavior_velocity_template_module">
+  <class type="autoware::behavior_velocity_planner::TemplateModulePlugin" base_class_type="autoware::behavior_velocity_planner::PluginInterface"/>
+</library>
diff --git a/planning/behavior_velocity_template_module/src/manager.cpp b/planning/autoware_behavior_velocity_template_module/src/manager.cpp
similarity index 86%
rename from planning/behavior_velocity_template_module/src/manager.cpp
rename to planning/autoware_behavior_velocity_template_module/src/manager.cpp
index 22763f44af7bf..c5861d032dee1 100644
--- a/planning/behavior_velocity_template_module/src/manager.cpp
+++ b/planning/autoware_behavior_velocity_template_module/src/manager.cpp
@@ -26,7 +26,7 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using tier4_autoware_utils::getOrDeclareParameter;
 
@@ -34,7 +34,7 @@ TemplateModuleManager::TemplateModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterface(node, getModuleName())
 {
   std::string ns(getModuleName());
-  dummy_parameter = getOrDeclareParameter<double>(node, ns + ".dummy");
+  dummy_parameter_ = getOrDeclareParameter<double>(node, ns + ".dummy");
 }
 
 void TemplateModuleManager::launchNewModules(
@@ -56,8 +56,9 @@ TemplateModuleManager::getModuleExpiredFunction(
   };
 }
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(
-  behavior_velocity_planner::TemplateModulePlugin, behavior_velocity_planner::PluginInterface)
+  autoware::behavior_velocity_planner::TemplateModulePlugin,
+  behavior_velocity_planner::PluginInterface)
diff --git a/planning/behavior_velocity_template_module/src/manager.hpp b/planning/autoware_behavior_velocity_template_module/src/manager.hpp
similarity index 89%
rename from planning/behavior_velocity_template_module/src/manager.hpp
rename to planning/autoware_behavior_velocity_template_module/src/manager.hpp
index ef4e1f00cae92..aaaf0710eff46 100644
--- a/planning/behavior_velocity_template_module/src/manager.hpp
+++ b/planning/autoware_behavior_velocity_template_module/src/manager.hpp
@@ -27,7 +27,7 @@
 #include <functional>
 #include <memory>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 /**
  * @brief Constructor for the TemplateModuleManager class.
@@ -37,7 +37,7 @@ namespace behavior_velocity_planner
  *
  * @param node A reference to the ROS node.
  */
-class TemplateModuleManager : public SceneModuleManagerInterface
+class TemplateModuleManager : public ::behavior_velocity_planner::SceneModuleManagerInterface
 {
 public:
   explicit TemplateModuleManager(rclcpp::Node & node);
@@ -53,7 +53,7 @@ class TemplateModuleManager : public SceneModuleManagerInterface
   const char * getModuleName() override { return "template"; }
 
 private:
-  double dummy_parameter{0.0};
+  double dummy_parameter_{0.0};
 
   /**
    * @brief Launch new modules based on the provided path.
@@ -84,10 +84,11 @@ class TemplateModuleManager : public SceneModuleManagerInterface
  * The TemplateModulePlugin class is used to integrate the TemplateModuleManager into the Behavior
  * Velocity Planner.
  */
-class TemplateModulePlugin : public PluginWrapper<TemplateModuleManager>
+class TemplateModulePlugin
+: public ::behavior_velocity_planner::PluginWrapper<TemplateModuleManager>
 {
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // MANAGER_HPP_
diff --git a/planning/behavior_velocity_template_module/src/scene.cpp b/planning/autoware_behavior_velocity_template_module/src/scene.cpp
similarity index 93%
rename from planning/behavior_velocity_template_module/src/scene.cpp
rename to planning/autoware_behavior_velocity_template_module/src/scene.cpp
index 558f67b49817c..644e59e6b3011 100644
--- a/planning/behavior_velocity_template_module/src/scene.cpp
+++ b/planning/autoware_behavior_velocity_template_module/src/scene.cpp
@@ -21,7 +21,7 @@
 
 #include <string>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 
 TemplateModule::TemplateModule(
@@ -49,4 +49,4 @@ bool TemplateModule::modifyPathVelocity(
   return false;
 }
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
diff --git a/planning/behavior_velocity_template_module/src/scene.hpp b/planning/autoware_behavior_velocity_template_module/src/scene.hpp
similarity index 91%
rename from planning/behavior_velocity_template_module/src/scene.hpp
rename to planning/autoware_behavior_velocity_template_module/src/scene.hpp
index fab0b23efb25f..e8c00efcb3ee1 100644
--- a/planning/behavior_velocity_template_module/src/scene.hpp
+++ b/planning/autoware_behavior_velocity_template_module/src/scene.hpp
@@ -21,9 +21,11 @@
 #include <utility>
 #include <vector>
 
-namespace behavior_velocity_planner
+namespace autoware::behavior_velocity_planner
 {
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
+using ::behavior_velocity_planner::SceneModuleInterface;
+using ::behavior_velocity_planner::StopReason;
 
 class TemplateModule : public SceneModuleInterface
 {
@@ -64,6 +66,6 @@ class TemplateModule : public SceneModuleInterface
   motion_utils::VirtualWalls createVirtualWalls() override;
 };
 
-}  // namespace behavior_velocity_planner
+}  // namespace autoware::behavior_velocity_planner
 
 #endif  // SCENE_HPP_
diff --git a/planning/behavior_velocity_template_module/plugins.xml b/planning/behavior_velocity_template_module/plugins.xml
deleted file mode 100644
index 3560c84e6a080..0000000000000
--- a/planning/behavior_velocity_template_module/plugins.xml
+++ /dev/null
@@ -1,3 +0,0 @@
-<library path="behavior_velocity_template_module">
-  <class type="behavior_velocity_planner::TemplateModulePlugin" base_class_type="behavior_velocity_planner::PluginInterface"/>
-</library>