diff --git a/perception/multi_object_tracker/CMakeLists.txt b/perception/multi_object_tracker/CMakeLists.txt
index 4f9268583dd34..370e5bb0b9161 100644
--- a/perception/multi_object_tracker/CMakeLists.txt
+++ b/perception/multi_object_tracker/CMakeLists.txt
@@ -20,32 +20,34 @@ include_directories(
 )
 
 # Generate exe file
-set(MULTI_OBJECT_TRACKER_SRC
-  src/multi_object_tracker_core.cpp
+set(${PROJECT_NAME}_src
+  src/multi_object_tracker_node.cpp
   src/debugger/debugger.cpp
   src/debugger/debug_object.cpp
   src/processor/processor.cpp
   src/processor/input_manager.cpp
-  src/data_association/data_association.cpp
-  src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
-  src/tracker/motion_model/motion_model_base.cpp
-  src/tracker/motion_model/bicycle_motion_model.cpp
+)
+set(${PROJECT_NAME}_lib
+  lib/association/association.cpp
+  lib/association/mu_successive_shortest_path/mu_ssp.cpp
+  lib/tracker/motion_model/motion_model_base.cpp
+  lib/tracker/motion_model/bicycle_motion_model.cpp
   # cspell: ignore ctrv
-  src/tracker/motion_model/ctrv_motion_model.cpp
-  src/tracker/motion_model/cv_motion_model.cpp
-  src/tracker/model/tracker_base.cpp
-  src/tracker/model/big_vehicle_tracker.cpp
-  src/tracker/model/normal_vehicle_tracker.cpp
-  src/tracker/model/multiple_vehicle_tracker.cpp
-  src/tracker/model/bicycle_tracker.cpp
-  src/tracker/model/pedestrian_tracker.cpp
-  src/tracker/model/pedestrian_and_bicycle_tracker.cpp
-  src/tracker/model/unknown_tracker.cpp
-  src/tracker/model/pass_through_tracker.cpp
+  lib/tracker/motion_model/ctrv_motion_model.cpp
+  lib/tracker/motion_model/cv_motion_model.cpp
+  lib/tracker/model/tracker_base.cpp
+  lib/tracker/model/big_vehicle_tracker.cpp
+  lib/tracker/model/normal_vehicle_tracker.cpp
+  lib/tracker/model/multiple_vehicle_tracker.cpp
+  lib/tracker/model/bicycle_tracker.cpp
+  lib/tracker/model/pedestrian_tracker.cpp
+  lib/tracker/model/pedestrian_and_bicycle_tracker.cpp
+  lib/tracker/model/unknown_tracker.cpp
+  lib/tracker/model/pass_through_tracker.cpp
 )
-
 ament_auto_add_library(${PROJECT_NAME} SHARED
-  ${MULTI_OBJECT_TRACKER_SRC}
+  ${${PROJECT_NAME}_src}
+  ${${PROJECT_NAME}_lib}
 )
 
 target_link_libraries(${PROJECT_NAME}
@@ -54,8 +56,8 @@ target_link_libraries(${PROJECT_NAME}
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "multi_object_tracker::MultiObjectTracker"
-  EXECUTABLE ${PROJECT_NAME}_node
+  PLUGIN "autoware::multi_object_tracker::MultiObjectTracker"
+  EXECUTABLE multi_object_tracker_node
 )
 
 ament_auto_package(INSTALL_TO_SHARE
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/data_association/data_association.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/association.hpp
similarity index 81%
rename from perception/multi_object_tracker/include/multi_object_tracker/data_association/data_association.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/association/association.hpp
index c30423db02c26..2c12341d0aa67 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/data_association/data_association.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/association.hpp
@@ -16,13 +16,13 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_
-#define MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__ASSOCIATION_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__ASSOCIATION_HPP_
 
 #define EIGEN_MPL2_ONLY
 
-#include "multi_object_tracker/data_association/solver/gnn_solver.hpp"
-#include "multi_object_tracker/tracker/tracker.hpp"
+#include "autoware/multi_object_tracker/association/solver/gnn_solver.hpp"
+#include "autoware/multi_object_tracker/tracker/tracker.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -34,6 +34,8 @@
 #include <unordered_map>
 #include <vector>
 
+namespace autoware::multi_object_tracker
+{
 class DataAssociation
 {
 private:
@@ -61,4 +63,6 @@ class DataAssociation
   virtual ~DataAssociation() {}
 };
 
-#endif  // MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__DATA_ASSOCIATION_HPP_
+}  // namespace autoware::multi_object_tracker
+
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__ASSOCIATION_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/gnn_solver.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver.hpp
similarity index 55%
rename from perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/gnn_solver.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver.hpp
index 631fd73f8583d..3b72b800e86bc 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/gnn_solver.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
-#define MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
 
-#include "multi_object_tracker/data_association/solver/gnn_solver_interface.hpp"
-#include "multi_object_tracker/data_association/solver/mu_successive_shortest_path.hpp"
-#include "multi_object_tracker/data_association/solver/successive_shortest_path.hpp"
+#include "autoware/multi_object_tracker/association/solver/gnn_solver_interface.hpp"
+#include "autoware/multi_object_tracker/association/solver/mu_ssp.hpp"
+#include "autoware/multi_object_tracker/association/solver/ssp.hpp"
 
-#endif  // MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/gnn_solver_interface.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver_interface.hpp
similarity index 73%
rename from perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/gnn_solver_interface.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver_interface.hpp
index 1fb508bcf12b2..88f9181d96d9b 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/gnn_solver_interface.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/gnn_solver_interface.hpp
@@ -12,12 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
-#define MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
 
 #include <unordered_map>
 #include <vector>
 
+namespace autoware::multi_object_tracker
+{
 namespace gnn_solver
 {
 class GnnSolverInterface
@@ -30,6 +32,8 @@ class GnnSolverInterface
     const std::vector<std::vector<double>> & cost, std::unordered_map<int, int> * direct_assignment,
     std::unordered_map<int, int> * reverse_assignment) = 0;
 };
+
 }  // namespace gnn_solver
+}  // namespace autoware::multi_object_tracker
 
-#endif  // MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__GNN_SOLVER_INTERFACE_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/mu_successive_shortest_path.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/mu_ssp.hpp
similarity index 71%
rename from perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/mu_successive_shortest_path.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/mu_ssp.hpp
index a4d9d727e6cc5..024670c3389c6 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/mu_successive_shortest_path.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/mu_ssp.hpp
@@ -12,14 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_
-#define MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__MU_SSP_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__MU_SSP_HPP_
 
-#include "multi_object_tracker/data_association/solver/gnn_solver_interface.hpp"
+#include "autoware/multi_object_tracker/association/solver/gnn_solver_interface.hpp"
 
 #include <unordered_map>
 #include <vector>
 
+namespace autoware::multi_object_tracker
+{
 namespace gnn_solver
 {
 class MuSSP : public GnnSolverInterface
@@ -32,6 +34,8 @@ class MuSSP : public GnnSolverInterface
     const std::vector<std::vector<double>> & cost, std::unordered_map<int, int> * direct_assignment,
     std::unordered_map<int, int> * reverse_assignment) override;
 };
+
 }  // namespace gnn_solver
+}  // namespace autoware::multi_object_tracker
 
-#endif  // MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__MU_SUCCESSIVE_SHORTEST_PATH_HPP_
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__MU_SSP_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/successive_shortest_path.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/ssp.hpp
similarity index 71%
rename from perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/successive_shortest_path.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/ssp.hpp
index 1c4b15cd68b59..0f987fc49ee7c 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/data_association/solver/successive_shortest_path.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/association/solver/ssp.hpp
@@ -12,14 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_
-#define MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__SSP_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__SSP_HPP_
 
-#include "multi_object_tracker/data_association/solver/gnn_solver_interface.hpp"
+#include "autoware/multi_object_tracker/association/solver/gnn_solver_interface.hpp"
 
 #include <unordered_map>
 #include <vector>
 
+namespace autoware::multi_object_tracker
+{
 namespace gnn_solver
 {
 class SSP : public GnnSolverInterface
@@ -32,6 +34,8 @@ class SSP : public GnnSolverInterface
     const std::vector<std::vector<double>> & cost, std::unordered_map<int, int> * direct_assignment,
     std::unordered_map<int, int> * reverse_assignment) override;
 };
+
 }  // namespace gnn_solver
+}  // namespace autoware::multi_object_tracker
 
-#endif  // MULTI_OBJECT_TRACKER__DATA_ASSOCIATION__SOLVER__SUCCESSIVE_SHORTEST_PATH_HPP_
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__ASSOCIATION__SOLVER__SSP_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/bicycle_tracker.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp
similarity index 78%
rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/model/bicycle_tracker.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp
index 63ad496b70ed9..5374e28d5f9cf 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/bicycle_tracker.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp
@@ -16,13 +16,16 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__BICYCLE_TRACKER_HPP_
-#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__BICYCLE_TRACKER_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BICYCLE_TRACKER_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BICYCLE_TRACKER_HPP_
 
+#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp"
+#include "autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp"
+#include "autoware/multi_object_tracker/tracker/object_model/object_model.hpp"
 #include "kalman_filter/kalman_filter.hpp"
-#include "multi_object_tracker/tracker/model/tracker_base.hpp"
-#include "multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp"
-#include "multi_object_tracker/tracker/object_model/object_model.hpp"
+
+namespace autoware::multi_object_tracker
+{
 
 class BicycleTracker : public Tracker
 {
@@ -67,4 +70,6 @@ class BicycleTracker : public Tracker
     const geometry_msgs::msg::Transform & self_transform) const;
 };
 
-#endif  // MULTI_OBJECT_TRACKER__TRACKER__MODEL__BICYCLE_TRACKER_HPP_
+}  // namespace autoware::multi_object_tracker
+
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BICYCLE_TRACKER_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp
similarity index 78%
rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp
index 7112e6a08ade1..c3f824aff35b4 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp
@@ -16,13 +16,16 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_
-#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_
 
+#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp"
+#include "autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp"
+#include "autoware/multi_object_tracker/tracker/object_model/object_model.hpp"
 #include "kalman_filter/kalman_filter.hpp"
-#include "multi_object_tracker/tracker/model/tracker_base.hpp"
-#include "multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp"
-#include "multi_object_tracker/tracker/object_model/object_model.hpp"
+
+namespace autoware::multi_object_tracker
+{
 
 class BigVehicleTracker : public Tracker
 {
@@ -70,4 +73,6 @@ class BigVehicleTracker : public Tracker
     const geometry_msgs::msg::Transform & self_transform);
 };
 
-#endif  // MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_
+}  // namespace autoware::multi_object_tracker
+
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__BIG_VEHICLE_TRACKER_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp
similarity index 71%
rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp
index 75aec0b06d6b8..a0a6bd7781761 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp
@@ -16,16 +16,19 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_
-#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_
 
+#include "autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp"
+#include "autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp"
+#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp"
 #include "kalman_filter/kalman_filter.hpp"
-#include "multi_object_tracker/tracker/model/big_vehicle_tracker.hpp"
-#include "multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp"
-#include "multi_object_tracker/tracker/model/tracker_base.hpp"
 
 #include <rclcpp/time.hpp>
 
+namespace autoware::multi_object_tracker
+{
+
 class MultipleVehicleTracker : public Tracker
 {
 private:
@@ -48,4 +51,6 @@ class MultipleVehicleTracker : public Tracker
   virtual ~MultipleVehicleTracker() {}
 };
 
-#endif  // MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_
+}  // namespace autoware::multi_object_tracker
+
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp
similarity index 78%
rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp
index 1165cecab258b..f7edebfc31378 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp
@@ -16,13 +16,16 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_
-#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_
 
+#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp"
+#include "autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp"
+#include "autoware/multi_object_tracker/tracker/object_model/object_model.hpp"
 #include "kalman_filter/kalman_filter.hpp"
-#include "multi_object_tracker/tracker/model/tracker_base.hpp"
-#include "multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp"
-#include "multi_object_tracker/tracker/object_model/object_model.hpp"
+
+namespace autoware::multi_object_tracker
+{
 
 class NormalVehicleTracker : public Tracker
 {
@@ -70,4 +73,6 @@ class NormalVehicleTracker : public Tracker
     const geometry_msgs::msg::Transform & self_transform);
 };
 
-#endif  // MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_
+}  // namespace autoware::multi_object_tracker
+
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__NORMAL_VEHICLE_TRACKER_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pass_through_tracker.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp
similarity index 81%
rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pass_through_tracker.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp
index cd661dab52c6e..e7f0a5fd699e1 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pass_through_tracker.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp
@@ -16,12 +16,15 @@
 // Author: v1.0 Yutaka Shimizu
 //
 
-#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_
-#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_
 
 #include "kalman_filter/kalman_filter.hpp"
 #include "tracker_base.hpp"
 
+namespace autoware::multi_object_tracker
+{
+
 class PassThroughTracker : public Tracker
 {
 private:
@@ -44,4 +47,6 @@ class PassThroughTracker : public Tracker
     autoware_perception_msgs::msg::TrackedObject & object) const override;
 };
 
-#endif  // MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_
+}  // namespace autoware::multi_object_tracker
+
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PASS_THROUGH_TRACKER_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp
similarity index 71%
rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp
index 3c3ac038b085e..f593280c2e183 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp
@@ -16,13 +16,16 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_AND_BICYCLE_TRACKER_HPP_
-#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_AND_BICYCLE_TRACKER_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_AND_BICYCLE_TRACKER_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_AND_BICYCLE_TRACKER_HPP_
 
+#include "autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp"
+#include "autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp"
+#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp"
 #include "kalman_filter/kalman_filter.hpp"
-#include "multi_object_tracker/tracker/model/bicycle_tracker.hpp"
-#include "multi_object_tracker/tracker/model/pedestrian_tracker.hpp"
-#include "multi_object_tracker/tracker/model/tracker_base.hpp"
+
+namespace autoware::multi_object_tracker
+{
 
 class PedestrianAndBicycleTracker : public Tracker
 {
@@ -46,4 +49,6 @@ class PedestrianAndBicycleTracker : public Tracker
   virtual ~PedestrianAndBicycleTracker() {}
 };
 
-#endif  // MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_AND_BICYCLE_TRACKER_HPP_
+}  // namespace autoware::multi_object_tracker
+
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_AND_BICYCLE_TRACKER_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp
similarity index 78%
rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp
index c5be57f656eb5..1e0f778a69137 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp
@@ -16,15 +16,16 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_TRACKER_HPP_
-#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_TRACKER_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_TRACKER_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_TRACKER_HPP_
 
+#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp"
+#include "autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp"
+#include "autoware/multi_object_tracker/tracker/object_model/object_model.hpp"
 #include "kalman_filter/kalman_filter.hpp"
-#include "multi_object_tracker/tracker/model/tracker_base.hpp"
-#include "multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp"
-#include "multi_object_tracker/tracker/object_model/object_model.hpp"
 
-// cspell: ignore CTRV
+namespace autoware::multi_object_tracker
+{
 
 class PedestrianTracker : public Tracker
 {
@@ -49,7 +50,7 @@ class PedestrianTracker : public Tracker
   };
   BoundingBox bounding_box_;
   Cylinder cylinder_;
-
+  // cspell: ignore CTRV
   CTRVMotionModel motion_model_;
   using IDX = CTRVMotionModel::IDX;
 
@@ -75,4 +76,6 @@ class PedestrianTracker : public Tracker
     const geometry_msgs::msg::Transform & self_transform) const;
 };
 
-#endif  // MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_TRACKER_HPP_
+}  // namespace autoware::multi_object_tracker
+
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__PEDESTRIAN_TRACKER_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/tracker_base.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp
similarity index 91%
rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/model/tracker_base.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp
index 44b3884c392e6..bc52e49f763fd 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/tracker_base.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/tracker_base.hpp
@@ -16,11 +16,11 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_
-#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_
 
 #define EIGEN_MPL2_ONLY
-#include "multi_object_tracker/utils/utils.hpp"
+#include "autoware/multi_object_tracker/utils/utils.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
 #include <Eigen/Core>
@@ -33,6 +33,9 @@
 
 #include <vector>
 
+namespace autoware::multi_object_tracker
+{
+
 class Tracker
 {
 private:
@@ -114,4 +117,6 @@ class Tracker
   virtual bool predict(const rclcpp::Time & time) = 0;
 };
 
-#endif  // MULTI_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_
+}  // namespace autoware::multi_object_tracker
+
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__TRACKER_BASE_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/unknown_tracker.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp
similarity index 80%
rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/model/unknown_tracker.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp
index ca8ecba160bd8..4bc03f439ffc2 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/unknown_tracker.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp
@@ -16,12 +16,15 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_
-#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_
 
+#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp"
+#include "autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp"
 #include "kalman_filter/kalman_filter.hpp"
-#include "multi_object_tracker/tracker/model/tracker_base.hpp"
-#include "multi_object_tracker/tracker/motion_model/cv_motion_model.hpp"
+
+namespace autoware::multi_object_tracker
+{
 
 class UnknownTracker : public Tracker
 {
@@ -62,4 +65,6 @@ class UnknownTracker : public Tracker
     autoware_perception_msgs::msg::TrackedObject & object) const override;
 };
 
-#endif  // MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_
+}  // namespace autoware::multi_object_tracker
+
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MODEL__UNKNOWN_TRACKER_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp
similarity index 87%
rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp
index f6ce2842388c6..6e20d31aad168 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp
@@ -16,11 +16,11 @@
 // Author: v1.0 Taekjin Lee
 //
 
-#ifndef MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__BICYCLE_MOTION_MODEL_HPP_
-#define MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__BICYCLE_MOTION_MODEL_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__BICYCLE_MOTION_MODEL_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__BICYCLE_MOTION_MODEL_HPP_
 
+#include "autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
 #include "kalman_filter/kalman_filter.hpp"
-#include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
 
 #include <Eigen/Core>
 #include <rclcpp/rclcpp.hpp>
@@ -32,6 +32,9 @@
 #endif
 #include <geometry_msgs/msg/twist.hpp>
 
+namespace autoware::multi_object_tracker
+{
+
 class BicycleMotionModel : public MotionModel
 {
 private:
@@ -107,4 +110,6 @@ class BicycleMotionModel : public MotionModel
     geometry_msgs::msg::Twist & twist, std::array<double, 36> & twist_cov) const override;
 };
 
-#endif  // MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__BICYCLE_MOTION_MODEL_HPP_
+}  // namespace autoware::multi_object_tracker
+
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__BICYCLE_MOTION_MODEL_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp
similarity index 86%
rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp
index 657048079c46c..3cca786d9f65b 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp
@@ -16,11 +16,11 @@
 // Author: v1.0 Taekjin Lee
 //
 
-#ifndef MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CTRV_MOTION_MODEL_HPP_
-#define MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CTRV_MOTION_MODEL_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CTRV_MOTION_MODEL_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CTRV_MOTION_MODEL_HPP_
 
+#include "autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
 #include "kalman_filter/kalman_filter.hpp"
-#include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
 
 #include <Eigen/Core>
 #include <rclcpp/rclcpp.hpp>
@@ -32,8 +32,10 @@
 #endif
 #include <geometry_msgs/msg/twist.hpp>
 
-// cspell: ignore CTRV
+namespace autoware::multi_object_tracker
+{
 
+// cspell: ignore CTRV
 class CTRVMotionModel : public MotionModel
 {
 private:
@@ -92,4 +94,6 @@ class CTRVMotionModel : public MotionModel
     geometry_msgs::msg::Twist & twist, std::array<double, 36> & twist_cov) const override;
 };
 
-#endif  // MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CTRV_MOTION_MODEL_HPP_
+}  // namespace autoware::multi_object_tracker
+
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CTRV_MOTION_MODEL_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp
similarity index 84%
rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp
index 421e413d7aab7..ad3061285a80c 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp
@@ -16,11 +16,11 @@
 // Author: v1.0 Taekjin Lee
 //
 
-#ifndef MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CV_MOTION_MODEL_HPP_
-#define MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CV_MOTION_MODEL_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CV_MOTION_MODEL_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CV_MOTION_MODEL_HPP_
 
+#include "autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
 #include "kalman_filter/kalman_filter.hpp"
-#include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
 
 #include <Eigen/Core>
 #include <rclcpp/rclcpp.hpp>
@@ -32,6 +32,9 @@
 #endif
 #include <geometry_msgs/msg/twist.hpp>
 
+namespace autoware::multi_object_tracker
+{
+
 class CVMotionModel : public MotionModel
 {
 private:
@@ -85,4 +88,6 @@ class CVMotionModel : public MotionModel
     geometry_msgs::msg::Twist & twist, std::array<double, 36> & twist_cov) const override;
 };
 
-#endif  // MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CV_MOTION_MODEL_HPP_
+}  // namespace autoware::multi_object_tracker
+
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__CV_MOTION_MODEL_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/motion_model_base.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp
similarity index 85%
rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/motion_model_base.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp
index e740612e96d4f..130053fafd2ed 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/motion_model/motion_model_base.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp
@@ -16,8 +16,8 @@
 // Author: v1.0 Taekjin Lee
 //
 
-#ifndef MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_
-#define MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_
 
 #include "kalman_filter/kalman_filter.hpp"
 
@@ -31,6 +31,9 @@
 #endif
 #include <geometry_msgs/msg/twist.hpp>
 
+namespace autoware::multi_object_tracker
+{
+
 class MotionModel
 {
 private:
@@ -65,4 +68,6 @@ class MotionModel
     geometry_msgs::msg::Twist & twist, std::array<double, 36> & twist_cov) const = 0;
 };
 
-#endif  // MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_
+}  // namespace autoware::multi_object_tracker
+
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/object_model/object_model.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/object_model/object_model.hpp
similarity index 96%
rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/object_model/object_model.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/object_model/object_model.hpp
index 6a771344bb36b..b49464109eec8 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/object_model/object_model.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/object_model/object_model.hpp
@@ -16,8 +16,8 @@
 // Author: v1.0 Taekjin Lee
 //
 
-#ifndef MULTI_OBJECT_TRACKER__TRACKER__OBJECT_MODEL__OBJECT_MODEL_HPP_
-#define MULTI_OBJECT_TRACKER__TRACKER__OBJECT_MODEL__OBJECT_MODEL_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__OBJECT_MODEL__OBJECT_MODEL_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__OBJECT_MODEL__OBJECT_MODEL_HPP_
 
 #include <cmath>
 
@@ -46,6 +46,9 @@ constexpr T kmph2mps(const T kmph)
 
 }  // namespace
 
+namespace autoware::multi_object_tracker
+{
+
 namespace object_model
 {
 
@@ -301,5 +304,6 @@ static const ObjectModel bicycle(ObjectModelType::Bicycle);
 static const ObjectModel pedestrian(ObjectModelType::Pedestrian);
 
 }  // namespace object_model
+}  // namespace autoware::multi_object_tracker
 
-#endif  // MULTI_OBJECT_TRACKER__TRACKER__OBJECT_MODEL__OBJECT_MODEL_HPP_
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__OBJECT_MODEL__OBJECT_MODEL_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/tracker.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp
similarity index 84%
rename from perception/multi_object_tracker/include/multi_object_tracker/tracker/tracker.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp
index a8bc58e254fc2..ea1e60d4c7e17 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/tracker.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/tracker/tracker.hpp
@@ -16,8 +16,8 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_
-#define MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_
 
 #include "model/bicycle_tracker.hpp"
 #include "model/big_vehicle_tracker.hpp"
@@ -29,4 +29,4 @@
 #include "model/tracker_base.hpp"
 #include "model/unknown_tracker.hpp"
 
-#endif  // MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__TRACKER__TRACKER_HPP_
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp b/perception/multi_object_tracker/include/autoware/multi_object_tracker/utils/utils.hpp
similarity index 98%
rename from perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp
rename to perception/multi_object_tracker/include/autoware/multi_object_tracker/utils/utils.hpp
index 0bda7870ae2b9..833f768e171f4 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp
+++ b/perception/multi_object_tracker/include/autoware/multi_object_tracker/utils/utils.hpp
@@ -16,8 +16,8 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#ifndef MULTI_OBJECT_TRACKER__UTILS__UTILS_HPP_
-#define MULTI_OBJECT_TRACKER__UTILS__UTILS_HPP_
+#ifndef AUTOWARE__MULTI_OBJECT_TRACKER__UTILS__UTILS_HPP_
+#define AUTOWARE__MULTI_OBJECT_TRACKER__UTILS__UTILS_HPP_
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -276,4 +276,4 @@ inline bool getMeasurementYaw(
 
 }  // namespace utils
 
-#endif  // MULTI_OBJECT_TRACKER__UTILS__UTILS_HPP_
+#endif  // AUTOWARE__MULTI_OBJECT_TRACKER__UTILS__UTILS_HPP_
diff --git a/perception/multi_object_tracker/src/data_association/data_association.cpp b/perception/multi_object_tracker/lib/association/association.cpp
similarity index 96%
rename from perception/multi_object_tracker/src/data_association/data_association.cpp
rename to perception/multi_object_tracker/lib/association/association.cpp
index f7b40cd178528..ac31cad4cc13c 100644
--- a/perception/multi_object_tracker/src/data_association/data_association.cpp
+++ b/perception/multi_object_tracker/lib/association/association.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "multi_object_tracker/data_association/data_association.hpp"
+#include "autoware/multi_object_tracker/association/association.hpp"
 
-#include "multi_object_tracker/data_association/solver/gnn_solver.hpp"
-#include "multi_object_tracker/utils/utils.hpp"
+#include "autoware/multi_object_tracker/association/solver/gnn_solver.hpp"
+#include "autoware/multi_object_tracker/utils/utils.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
 #include <algorithm>
@@ -68,6 +68,9 @@ double getFormedYawAngle(
 }
 }  // namespace
 
+namespace autoware::multi_object_tracker
+{
+
 DataAssociation::DataAssociation(
   std::vector<int> can_assign_vector, std::vector<double> max_dist_vector,
   std::vector<double> max_area_vector, std::vector<double> min_area_vector,
@@ -224,3 +227,5 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
 
   return score_matrix;
 }
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp b/perception/multi_object_tracker/lib/association/mu_successive_shortest_path/mu_ssp.cpp
similarity index 88%
rename from perception/multi_object_tracker/src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
rename to perception/multi_object_tracker/lib/association/mu_successive_shortest_path/mu_ssp.cpp
index 18779a7fffbdf..9ae6e300b2b9b 100644
--- a/perception/multi_object_tracker/src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp
+++ b/perception/multi_object_tracker/lib/association/mu_successive_shortest_path/mu_ssp.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "multi_object_tracker/data_association/solver/mu_successive_shortest_path.hpp"
+#include "autoware/multi_object_tracker/association/solver/mu_ssp.hpp"
 
 #include <mussp/mussp.h>
 
@@ -24,6 +24,8 @@
 #include <unordered_map>
 #include <vector>
 
+namespace autoware::multi_object_tracker
+{
 namespace gnn_solver
 {
 void MuSSP::maximizeLinearAssignment(
@@ -39,3 +41,5 @@ void MuSSP::maximizeLinearAssignment(
   solve_muSSP(cost, direct_assignment, reverse_assignment);
 }
 }  // namespace gnn_solver
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/src/data_association/successive_shortest_path/successive_shortest_path.cpp b/perception/multi_object_tracker/lib/association/successive_shortest_path/ssp.cpp
similarity index 98%
rename from perception/multi_object_tracker/src/data_association/successive_shortest_path/successive_shortest_path.cpp
rename to perception/multi_object_tracker/lib/association/successive_shortest_path/ssp.cpp
index 0b52c09cb54b8..d20992c7d183b 100644
--- a/perception/multi_object_tracker/src/data_association/successive_shortest_path/successive_shortest_path.cpp
+++ b/perception/multi_object_tracker/lib/association/successive_shortest_path/ssp.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "multi_object_tracker/data_association/solver/successive_shortest_path.hpp"
+#include "autoware/multi_object_tracker/association/solver/ssp.hpp"
 
 #include <algorithm>
 #include <cassert>
@@ -22,6 +22,8 @@
 #include <utility>
 #include <vector>
 
+namespace autoware::multi_object_tracker
+{
 namespace gnn_solver
 {
 struct ResidualEdge
@@ -368,3 +370,5 @@ void SSP::maximizeLinearAssignment(
 #endif
 }
 }  // namespace gnn_solver
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp b/perception/multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp
similarity index 98%
rename from perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp
rename to perception/multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp
index a438c830596d7..ba53ccec1ad43 100644
--- a/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp
+++ b/perception/multi_object_tracker/lib/tracker/model/bicycle_tracker.cpp
@@ -17,13 +17,13 @@
 //
 #define EIGEN_MPL2_ONLY
 
-#include "multi_object_tracker/tracker/model/bicycle_tracker.hpp"
+#include "autoware/multi_object_tracker/tracker/model/bicycle_tracker.hpp"
 
+#include "autoware/multi_object_tracker/utils/utils.hpp"
 #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
 #include "autoware/universe_utils/math/normalization.hpp"
 #include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "autoware/universe_utils/ros/msg_covariance.hpp"
-#include "multi_object_tracker/utils/utils.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
 #include <Eigen/Core>
@@ -40,6 +40,9 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
+namespace autoware::multi_object_tracker
+{
+
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 
 BicycleTracker::BicycleTracker(
@@ -334,3 +337,5 @@ bool BicycleTracker::getTrackedObject(
 
   return true;
 }
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp b/perception/multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp
similarity index 98%
rename from perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
rename to perception/multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp
index 90d33e65b46bd..0593b7fc9dc12 100644
--- a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
+++ b/perception/multi_object_tracker/lib/tracker/model/big_vehicle_tracker.cpp
@@ -17,13 +17,13 @@
 //
 #define EIGEN_MPL2_ONLY
 
-#include "multi_object_tracker/tracker/model/big_vehicle_tracker.hpp"
+#include "autoware/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp"
 
+#include "autoware/multi_object_tracker/utils/utils.hpp"
 #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
 #include "autoware/universe_utils/math/normalization.hpp"
 #include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "autoware/universe_utils/ros/msg_covariance.hpp"
-#include "multi_object_tracker/utils/utils.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
 #include <Eigen/Core>
@@ -40,6 +40,8 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
+namespace autoware::multi_object_tracker
+{
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 
 BigVehicleTracker::BigVehicleTracker(
@@ -398,3 +400,5 @@ bool BigVehicleTracker::getTrackedObject(
 
   return true;
 }
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/src/tracker/model/multiple_vehicle_tracker.cpp b/perception/multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp
similarity index 93%
rename from perception/multi_object_tracker/src/tracker/model/multiple_vehicle_tracker.cpp
rename to perception/multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp
index 67445e5b0daa2..a6e5021e4fe7d 100644
--- a/perception/multi_object_tracker/src/tracker/model/multiple_vehicle_tracker.cpp
+++ b/perception/multi_object_tracker/lib/tracker/model/multiple_vehicle_tracker.cpp
@@ -16,7 +16,10 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#include "multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp"
+#include "autoware/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp"
+
+namespace autoware::multi_object_tracker
+{
 
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 
@@ -65,3 +68,5 @@ bool MultipleVehicleTracker::getTrackedObject(
   object.classification = getClassification();
   return true;
 }
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp b/perception/multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp
similarity index 98%
rename from perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
rename to perception/multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp
index 67282893083c1..ef345692b32ca 100644
--- a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
+++ b/perception/multi_object_tracker/lib/tracker/model/normal_vehicle_tracker.cpp
@@ -17,13 +17,13 @@
 //
 #define EIGEN_MPL2_ONLY
 
-#include "multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp"
+#include "autoware/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp"
 
+#include "autoware/multi_object_tracker/utils/utils.hpp"
 #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
 #include "autoware/universe_utils/math/normalization.hpp"
 #include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "autoware/universe_utils/ros/msg_covariance.hpp"
-#include "multi_object_tracker/utils/utils.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
 #include <Eigen/Core>
@@ -40,6 +40,9 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
+namespace autoware::multi_object_tracker
+{
+
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 
 NormalVehicleTracker::NormalVehicleTracker(
@@ -399,3 +402,5 @@ bool NormalVehicleTracker::getTrackedObject(
 
   return true;
 }
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/src/tracker/model/pass_through_tracker.cpp b/perception/multi_object_tracker/lib/tracker/model/pass_through_tracker.cpp
similarity index 95%
rename from perception/multi_object_tracker/src/tracker/model/pass_through_tracker.cpp
rename to perception/multi_object_tracker/lib/tracker/model/pass_through_tracker.cpp
index 17be415480360..c872944fab3d7 100644
--- a/perception/multi_object_tracker/src/tracker/model/pass_through_tracker.cpp
+++ b/perception/multi_object_tracker/lib/tracker/model/pass_through_tracker.cpp
@@ -16,10 +16,10 @@
 // Author: v1.0 Yutaka Shimizu
 //
 #define EIGEN_MPL2_ONLY
-#include "multi_object_tracker/tracker/model/pass_through_tracker.hpp"
+#include "autoware/multi_object_tracker/tracker/model/pass_through_tracker.hpp"
 
+#include "autoware/multi_object_tracker/utils/utils.hpp"
 #include "autoware/universe_utils/ros/msg_covariance.hpp"
-#include "multi_object_tracker/utils/utils.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
 #include <Eigen/Core>
@@ -36,6 +36,9 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
+namespace autoware::multi_object_tracker
+{
+
 PassThroughTracker::PassThroughTracker(
   const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object,
   const geometry_msgs::msg::Transform & /*self_transform*/, const size_t channel_size,
@@ -117,3 +120,5 @@ bool PassThroughTracker::getTrackedObject(
 
   return true;
 }
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/src/tracker/model/pedestrian_and_bicycle_tracker.cpp b/perception/multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp
similarity index 93%
rename from perception/multi_object_tracker/src/tracker/model/pedestrian_and_bicycle_tracker.cpp
rename to perception/multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp
index 00609934990a3..8c665e6078a2b 100644
--- a/perception/multi_object_tracker/src/tracker/model/pedestrian_and_bicycle_tracker.cpp
+++ b/perception/multi_object_tracker/lib/tracker/model/pedestrian_and_bicycle_tracker.cpp
@@ -16,7 +16,10 @@
 // Author: v1.0 Yukihiro Saito
 //
 
-#include "multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp"
+#include "autoware/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp"
+
+namespace autoware::multi_object_tracker
+{
 
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 
@@ -65,3 +68,5 @@ bool PedestrianAndBicycleTracker::getTrackedObject(
   object.classification = getClassification();
   return true;
 }
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp b/perception/multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp
similarity index 98%
rename from perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
rename to perception/multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp
index d9412c3b5739c..ee50c2e5449ed 100644
--- a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
+++ b/perception/multi_object_tracker/lib/tracker/model/pedestrian_tracker.cpp
@@ -17,13 +17,13 @@
 //
 #define EIGEN_MPL2_ONLY
 
-#include "multi_object_tracker/tracker/model/pedestrian_tracker.hpp"
+#include "autoware/multi_object_tracker/tracker/model/pedestrian_tracker.hpp"
 
+#include "autoware/multi_object_tracker/utils/utils.hpp"
 #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
 #include "autoware/universe_utils/math/normalization.hpp"
 #include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "autoware/universe_utils/ros/msg_covariance.hpp"
-#include "multi_object_tracker/utils/utils.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
 #include <Eigen/Core>
@@ -40,6 +40,9 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
+namespace autoware::multi_object_tracker
+{
+
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 
 PedestrianTracker::PedestrianTracker(
@@ -338,3 +341,5 @@ bool PedestrianTracker::getTrackedObject(
 
   return true;
 }
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/src/tracker/model/tracker_base.cpp b/perception/multi_object_tracker/lib/tracker/model/tracker_base.cpp
similarity index 96%
rename from perception/multi_object_tracker/src/tracker/model/tracker_base.cpp
rename to perception/multi_object_tracker/lib/tracker/model/tracker_base.cpp
index f27bad172a4b9..daa8db5db91e6 100644
--- a/perception/multi_object_tracker/src/tracker/model/tracker_base.cpp
+++ b/perception/multi_object_tracker/lib/tracker/model/tracker_base.cpp
@@ -14,9 +14,9 @@
 //
 //
 
-#include "multi_object_tracker/tracker/model/tracker_base.hpp"
+#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp"
 
-#include "multi_object_tracker/utils/utils.hpp"
+#include "autoware/multi_object_tracker/utils/utils.hpp"
 
 #include <algorithm>
 #include <random>
@@ -40,6 +40,9 @@ float decayProbability(const float & prior, const float & delta_time)
 }
 }  // namespace
 
+namespace autoware::multi_object_tracker
+{
+
 Tracker::Tracker(
   const rclcpp::Time & time,
   const std::vector<autoware_perception_msgs::msg::ObjectClassification> & classification,
@@ -202,3 +205,5 @@ geometry_msgs::msg::PoseWithCovariance Tracker::getPoseWithCovariance(
   getTrackedObject(time, object);
   return object.kinematics.pose_with_covariance;
 }
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp b/perception/multi_object_tracker/lib/tracker/model/unknown_tracker.cpp
similarity index 97%
rename from perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp
rename to perception/multi_object_tracker/lib/tracker/model/unknown_tracker.cpp
index 6905d7c3b8ced..0648007e0b807 100644
--- a/perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp
+++ b/perception/multi_object_tracker/lib/tracker/model/unknown_tracker.cpp
@@ -13,13 +13,13 @@
 // limitations under the License.
 #define EIGEN_MPL2_ONLY
 
-#include "multi_object_tracker/tracker/model/unknown_tracker.hpp"
+#include "autoware/multi_object_tracker/tracker/model/unknown_tracker.hpp"
 
+#include "autoware/multi_object_tracker/utils/utils.hpp"
 #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
 #include "autoware/universe_utils/math/normalization.hpp"
 #include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "autoware/universe_utils/ros/msg_covariance.hpp"
-#include "multi_object_tracker/utils/utils.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -36,6 +36,9 @@
 #endif
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
+namespace autoware::multi_object_tracker
+{
+
 UnknownTracker::UnknownTracker(
   const rclcpp::Time & time, const autoware_perception_msgs::msg::DetectedObject & object,
   const geometry_msgs::msg::Transform & /*self_transform*/, const size_t channel_size,
@@ -234,3 +237,5 @@ bool UnknownTracker::getTrackedObject(
 
   return true;
 }
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/src/tracker/motion_model/bicycle_motion_model.cpp b/perception/multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp
similarity index 98%
rename from perception/multi_object_tracker/src/tracker/motion_model/bicycle_motion_model.cpp
rename to perception/multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp
index 466108a2bef0e..2e325d18579a6 100644
--- a/perception/multi_object_tracker/src/tracker/motion_model/bicycle_motion_model.cpp
+++ b/perception/multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp
@@ -17,17 +17,20 @@
 //
 #define EIGEN_MPL2_ONLY
 
-#include "multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp"
+#include "autoware/multi_object_tracker/tracker/motion_model/bicycle_motion_model.hpp"
 
+#include "autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
+#include "autoware/multi_object_tracker/utils/utils.hpp"
 #include "autoware/universe_utils/math/normalization.hpp"
 #include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "autoware/universe_utils/ros/msg_covariance.hpp"
-#include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
-#include "multi_object_tracker/utils/utils.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
+namespace autoware::multi_object_tracker
+{
+
 // cspell: ignore CTRV
 // Bicycle CTRV motion model
 // CTRV : Constant Turn Rate and constant Velocity
@@ -487,3 +490,5 @@ bool BicycleMotionModel::getPredictedState(
 
   return true;
 }
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/src/tracker/motion_model/ctrv_motion_model.cpp b/perception/multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp
similarity index 97%
rename from perception/multi_object_tracker/src/tracker/motion_model/ctrv_motion_model.cpp
rename to perception/multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp
index b19af1d26d162..b1c5a36f9ad5b 100644
--- a/perception/multi_object_tracker/src/tracker/motion_model/ctrv_motion_model.cpp
+++ b/perception/multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp
@@ -17,17 +17,19 @@
 //
 #define EIGEN_MPL2_ONLY
 
-#include "multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp"
+#include "autoware/multi_object_tracker/tracker/motion_model/ctrv_motion_model.hpp"
 
+#include "autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
+#include "autoware/multi_object_tracker/utils/utils.hpp"
 #include "autoware/universe_utils/math/normalization.hpp"
 #include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "autoware/universe_utils/ros/msg_covariance.hpp"
-#include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
-#include "multi_object_tracker/utils/utils.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
+namespace autoware::multi_object_tracker
+{
 // cspell: ignore CTRV
 // Constant Turn Rate and constant Velocity (CTRV) motion model
 using autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
@@ -386,3 +388,5 @@ bool CTRVMotionModel::getPredictedState(
 
   return true;
 }
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/src/tracker/motion_model/cv_motion_model.cpp b/perception/multi_object_tracker/lib/tracker/motion_model/cv_motion_model.cpp
similarity index 97%
rename from perception/multi_object_tracker/src/tracker/motion_model/cv_motion_model.cpp
rename to perception/multi_object_tracker/lib/tracker/motion_model/cv_motion_model.cpp
index 231ba73796ed9..2e2ba660a6e0d 100644
--- a/perception/multi_object_tracker/src/tracker/motion_model/cv_motion_model.cpp
+++ b/perception/multi_object_tracker/lib/tracker/motion_model/cv_motion_model.cpp
@@ -17,19 +17,21 @@
 //
 #define EIGEN_MPL2_ONLY
 
-#include "multi_object_tracker/tracker/motion_model/cv_motion_model.hpp"
+#include "autoware/multi_object_tracker/tracker/motion_model/cv_motion_model.hpp"
 
+#include "autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
+#include "autoware/multi_object_tracker/utils/utils.hpp"
 #include "autoware/universe_utils/math/normalization.hpp"
 #include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "autoware/universe_utils/ros/msg_covariance.hpp"
-#include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
-#include "multi_object_tracker/utils/utils.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
 #include <tf2/utils.h>
 
+namespace autoware::multi_object_tracker
+{
 // cspell: ignore CV
 // Constant Velocity (CV) motion model
 using autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
@@ -306,3 +308,5 @@ bool CVMotionModel::getPredictedState(
 
   return true;
 }
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/src/tracker/motion_model/motion_model_base.cpp b/perception/multi_object_tracker/lib/tracker/motion_model/motion_model_base.cpp
similarity index 93%
rename from perception/multi_object_tracker/src/tracker/motion_model/motion_model_base.cpp
rename to perception/multi_object_tracker/lib/tracker/motion_model/motion_model_base.cpp
index 4d51021de634b..ffbb452815fa7 100644
--- a/perception/multi_object_tracker/src/tracker/motion_model/motion_model_base.cpp
+++ b/perception/multi_object_tracker/lib/tracker/motion_model/motion_model_base.cpp
@@ -16,7 +16,10 @@
 // Author: v1.0 Taekjin Lee
 //
 
-#include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
+#include "autoware/multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
+
+namespace autoware::multi_object_tracker
+{
 
 MotionModel::MotionModel() : last_update_time_(rclcpp::Time(0, 0))
 {
@@ -90,3 +93,5 @@ bool MotionModel::getPredictedState(
   tmp_ekf_for_no_update.getP(P);
   return true;
 }
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/src/debugger/debug_object.cpp b/perception/multi_object_tracker/src/debugger/debug_object.cpp
index fe6d3d5c75564..58b7dfc5cef48 100644
--- a/perception/multi_object_tracker/src/debugger/debug_object.cpp
+++ b/perception/multi_object_tracker/src/debugger/debug_object.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "multi_object_tracker/debugger/debug_object.hpp"
+#include "debug_object.hpp"
 
 #include "autoware_perception_msgs/msg/tracked_object.hpp"
 
@@ -48,6 +48,9 @@ int32_t uuidToInt(const boost::uuids::uuid & uuid)
 }
 }  // namespace
 
+namespace autoware::multi_object_tracker
+{
+
 TrackerObjectDebugger::TrackerObjectDebugger(std::string frame_id)
 {
   // set frame id
@@ -79,7 +82,7 @@ void TrackerObjectDebugger::collect(
   const std::unordered_map<int, int> & direct_assignment,
   const std::unordered_map<int, int> & /*reverse_assignment*/)
 {
-  if (!is_initialized_) is_initialized_ = true;
+  is_initialized_ = true;
 
   message_time_ = message_time;
 
@@ -391,3 +394,5 @@ void TrackerObjectDebugger::getMessage(visualization_msgs::msg::MarkerArray & ma
 
   return;
 }
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/debugger/debug_object.hpp b/perception/multi_object_tracker/src/debugger/debug_object.hpp
similarity index 91%
rename from perception/multi_object_tracker/include/multi_object_tracker/debugger/debug_object.hpp
rename to perception/multi_object_tracker/src/debugger/debug_object.hpp
index 08c9eb975d8e6..ed4c556959861 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/debugger/debug_object.hpp
+++ b/perception/multi_object_tracker/src/debugger/debug_object.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MULTI_OBJECT_TRACKER__DEBUGGER__DEBUG_OBJECT_HPP_
-#define MULTI_OBJECT_TRACKER__DEBUGGER__DEBUG_OBJECT_HPP_
+#ifndef DEBUGGER__DEBUG_OBJECT_HPP_
+#define DEBUGGER__DEBUG_OBJECT_HPP_
 
+#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp"
 #include "autoware/universe_utils/ros/uuid_helper.hpp"
-#include "multi_object_tracker/tracker/model/tracker_base.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -37,6 +37,9 @@
 #include <unordered_set>
 #include <vector>
 
+namespace autoware::multi_object_tracker
+{
+
 struct ObjectData
 {
   rclcpp::Time time;
@@ -99,4 +102,6 @@ class TrackerObjectDebugger
   void getMessage(visualization_msgs::msg::MarkerArray & marker_array) const;
 };
 
-#endif  // MULTI_OBJECT_TRACKER__DEBUGGER__DEBUG_OBJECT_HPP_
+}  // namespace autoware::multi_object_tracker
+
+#endif  // DEBUGGER__DEBUG_OBJECT_HPP_
diff --git a/perception/multi_object_tracker/src/debugger/debugger.cpp b/perception/multi_object_tracker/src/debugger/debugger.cpp
index e692ae76468e4..3e47bbe9bed8d 100644
--- a/perception/multi_object_tracker/src/debugger/debugger.cpp
+++ b/perception/multi_object_tracker/src/debugger/debugger.cpp
@@ -12,10 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "multi_object_tracker/debugger/debugger.hpp"
+#include "debugger.hpp"
 
 #include <memory>
 
+namespace autoware::multi_object_tracker
+{
 TrackerDebugger::TrackerDebugger(rclcpp::Node & node, const std::string & frame_id)
 : node_(node), diagnostic_updater_(&node), object_debugger_(frame_id)
 {
@@ -207,3 +209,5 @@ void TrackerDebugger::publishObjectsMarkers()
   // reset object data
   object_debugger_.reset();
 }
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/debugger/debugger.hpp b/perception/multi_object_tracker/src/debugger/debugger.hpp
similarity index 94%
rename from perception/multi_object_tracker/include/multi_object_tracker/debugger/debugger.hpp
rename to perception/multi_object_tracker/src/debugger/debugger.hpp
index a1c516147b220..77618e1882be7 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/debugger/debugger.hpp
+++ b/perception/multi_object_tracker/src/debugger/debugger.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MULTI_OBJECT_TRACKER__DEBUGGER__DEBUGGER_HPP_
-#define MULTI_OBJECT_TRACKER__DEBUGGER__DEBUGGER_HPP_
+#ifndef DEBUGGER__DEBUGGER_HPP_
+#define DEBUGGER__DEBUGGER_HPP_
 
 #include "autoware/universe_utils/ros/debug_publisher.hpp"
 #include "autoware/universe_utils/ros/published_time_publisher.hpp"
-#include "multi_object_tracker/debugger/debug_object.hpp"
+#include "debug_object.hpp"
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <diagnostic_updater/publisher.hpp>
@@ -33,6 +33,9 @@
 #include <unordered_map>
 #include <vector>
 
+namespace autoware::multi_object_tracker
+{
+
 /**
  * @brief Debugger class for multi object tracker
  * @details This class is used to publish debug information of multi object tracker
@@ -104,4 +107,6 @@ class TrackerDebugger
   void publishObjectsMarkers();
 };
 
-#endif  // MULTI_OBJECT_TRACKER__DEBUGGER__DEBUGGER_HPP_
+}  // namespace autoware::multi_object_tracker
+
+#endif  // DEBUGGER__DEBUGGER_HPP_
diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_node.cpp
similarity index 96%
rename from perception/multi_object_tracker/src/multi_object_tracker_core.cpp
rename to perception/multi_object_tracker/src/multi_object_tracker_node.cpp
index 97c3d93d191b2..d3e1c9686b69b 100644
--- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
+++ b/perception/multi_object_tracker/src/multi_object_tracker_node.cpp
@@ -15,13 +15,12 @@
 //
 #define EIGEN_MPL2_ONLY
 
-#include "multi_object_tracker/multi_object_tracker_core.hpp"
+#include "multi_object_tracker_node.hpp"
 
-#include "multi_object_tracker/utils/utils.hpp"
+#include "autoware/multi_object_tracker/utils/utils.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#include <rclcpp_components/register_node_macro.hpp>
 
 #include <boost/optional.hpp>
 
@@ -66,7 +65,7 @@ boost::optional<geometry_msgs::msg::Transform> getTransformAnonymous(
 
 }  // namespace
 
-namespace multi_object_tracker
+namespace autoware::multi_object_tracker
 {
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 
@@ -192,7 +191,7 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options)
     const auto max_rad_matrix = this->declare_parameter<std::vector<double>>("max_rad_matrix");
     const auto min_iou_matrix = this->declare_parameter<std::vector<double>>("min_iou_matrix");
 
-    data_association_ = std::make_unique<DataAssociation>(
+    association_ = std::make_unique<DataAssociation>(
       can_assign_matrix, max_dist_matrix, max_area_matrix, min_area_matrix, max_rad_matrix,
       min_iou_matrix);
   }
@@ -295,9 +294,9 @@ void MultiObjectTracker::runProcess(
     const auto & list_tracker = processor_->getListTracker();
     const auto & detected_objects = transformed_objects;
     // global nearest neighbor
-    Eigen::MatrixXd score_matrix = data_association_->calcScoreMatrix(
+    Eigen::MatrixXd score_matrix = association_->calcScoreMatrix(
       detected_objects, list_tracker);  // row : tracker, col : measurement
-    data_association_->assign(score_matrix, direct_assignment, reverse_assignment);
+    association_->assign(score_matrix, direct_assignment, reverse_assignment);
 
     // Collect debug information - tracker list, existence probabilities, association results
     debugger_->collectObjectInfo(
@@ -358,6 +357,8 @@ void MultiObjectTracker::publish(const rclcpp::Time & time) const
   debugger_->publishObjectsMarkers();
 }
 
-}  // namespace multi_object_tracker
+}  // namespace autoware::multi_object_tracker
+
+#include <rclcpp_components/register_node_macro.hpp>
 
-RCLCPP_COMPONENTS_REGISTER_NODE(multi_object_tracker::MultiObjectTracker)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::multi_object_tracker::MultiObjectTracker)
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp b/perception/multi_object_tracker/src/multi_object_tracker_node.hpp
similarity index 82%
rename from perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp
rename to perception/multi_object_tracker/src/multi_object_tracker_node.hpp
index aff3cbd00eabe..db5eaaa88ca8c 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp
+++ b/perception/multi_object_tracker/src/multi_object_tracker_node.hpp
@@ -16,14 +16,14 @@
 // Author: v1.0 Yukihiro Saito
 ///
 
-#ifndef MULTI_OBJECT_TRACKER__MULTI_OBJECT_TRACKER_CORE_HPP_
-#define MULTI_OBJECT_TRACKER__MULTI_OBJECT_TRACKER_CORE_HPP_
+#ifndef MULTI_OBJECT_TRACKER_NODE_HPP_
+#define MULTI_OBJECT_TRACKER_NODE_HPP_
 
-#include "multi_object_tracker/data_association/data_association.hpp"
-#include "multi_object_tracker/debugger/debugger.hpp"
-#include "multi_object_tracker/processor/input_manager.hpp"
-#include "multi_object_tracker/processor/processor.hpp"
-#include "multi_object_tracker/tracker/model/tracker_base.hpp"
+#include "autoware/multi_object_tracker/association/association.hpp"
+#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp"
+#include "debugger/debugger.hpp"
+#include "processor/input_manager.hpp"
+#include "processor/processor.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -52,7 +52,7 @@
 #include <utility>
 #include <vector>
 
-namespace multi_object_tracker
+namespace autoware::multi_object_tracker
 {
 
 using DetectedObject = autoware_perception_msgs::msg::DetectedObject;
@@ -82,7 +82,7 @@ class MultiObjectTracker : public rclcpp::Node
 
   // internal states
   std::string world_frame_id_;  // tracking frame
-  std::unique_ptr<DataAssociation> data_association_;
+  std::unique_ptr<DataAssociation> association_;
   std::unique_ptr<TrackerProcessor> processor_;
 
   // input manager
@@ -103,6 +103,6 @@ class MultiObjectTracker : public rclcpp::Node
   inline bool shouldTrackerPublish(const std::shared_ptr<const Tracker> tracker) const;
 };
 
-}  // namespace multi_object_tracker
+}  // namespace autoware::multi_object_tracker
 
-#endif  // MULTI_OBJECT_TRACKER__MULTI_OBJECT_TRACKER_CORE_HPP_
+#endif  // MULTI_OBJECT_TRACKER_NODE_HPP_
diff --git a/perception/multi_object_tracker/src/processor/input_manager.cpp b/perception/multi_object_tracker/src/processor/input_manager.cpp
index bee76e6c05940..5172cc5062450 100644
--- a/perception/multi_object_tracker/src/processor/input_manager.cpp
+++ b/perception/multi_object_tracker/src/processor/input_manager.cpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "multi_object_tracker/processor/input_manager.hpp"
+#include "input_manager.hpp"
 
 #include <cassert>
 
-namespace multi_object_tracker
+namespace autoware::multi_object_tracker
 {
 ///////////////////////////
 /////// InputStream ///////
@@ -62,7 +62,7 @@ void InputStream::onMessage(
 {
   const DetectedObjects objects = *msg;
   objects_que_.push_back(objects);
-  if (objects_que_.size() > que_size_) {
+  while (objects_que_.size() > que_size_) {
     objects_que_.pop_front();
   }
 
@@ -160,21 +160,27 @@ void InputStream::getObjectsOlderThan(
     return;
   }
 
-  for (const auto & object : objects_que_) {
-    const rclcpp::Time object_time = rclcpp::Time(object.header.stamp);
-
-    // remove objects older than the specified duration
+  for (const auto & objects : objects_que_) {
+    const rclcpp::Time object_time = rclcpp::Time(objects.header.stamp);
+    // ignore objects older than the specified duration
     if (object_time < object_oldest_time) {
-      objects_que_.pop_front();
       continue;
     }
 
     // Add the object if the object is older than the specified latest time
-    if (object_latest_time >= object_time) {
-      std::pair<uint, DetectedObjects> object_pair(index_, object);
-      objects_list.push_back(object_pair);
-      // remove the object from the queue
+    if (object_time <= object_latest_time) {
+      std::pair<uint, DetectedObjects> objects_pair(index_, objects);
+      objects_list.push_back(objects_pair);
+    }
+  }
+
+  // remove objects older than 'object_latest_time'
+  while (!objects_que_.empty()) {
+    const rclcpp::Time object_time = rclcpp::Time(objects_que_.front().header.stamp);
+    if (object_time < object_latest_time) {
       objects_que_.pop_front();
+    } else {
+      break;
     }
   }
 }
@@ -368,4 +374,4 @@ bool InputManager::getObjects(const rclcpp::Time & now, ObjectsList & objects_li
   return is_any_object;
 }
 
-}  // namespace multi_object_tracker
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/processor/input_manager.hpp b/perception/multi_object_tracker/src/processor/input_manager.hpp
similarity index 95%
rename from perception/multi_object_tracker/include/multi_object_tracker/processor/input_manager.hpp
rename to perception/multi_object_tracker/src/processor/input_manager.hpp
index 29b0c18ae766f..432a4105d815f 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/processor/input_manager.hpp
+++ b/perception/multi_object_tracker/src/processor/input_manager.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MULTI_OBJECT_TRACKER__PROCESSOR__INPUT_MANAGER_HPP_
-#define MULTI_OBJECT_TRACKER__PROCESSOR__INPUT_MANAGER_HPP_
+#ifndef PROCESSOR__INPUT_MANAGER_HPP_
+#define PROCESSOR__INPUT_MANAGER_HPP_
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -26,7 +26,7 @@
 #include <utility>
 #include <vector>
 
-namespace multi_object_tracker
+namespace autoware::multi_object_tracker
 {
 using DetectedObjects = autoware_perception_msgs::msg::DetectedObjects;
 using ObjectsList = std::vector<std::pair<uint, DetectedObjects>>;
@@ -155,6 +155,6 @@ class InputManager
   void optimizeTimings();
 };
 
-}  // namespace multi_object_tracker
+}  // namespace autoware::multi_object_tracker
 
-#endif  // MULTI_OBJECT_TRACKER__PROCESSOR__INPUT_MANAGER_HPP_
+#endif  // PROCESSOR__INPUT_MANAGER_HPP_
diff --git a/perception/multi_object_tracker/src/processor/processor.cpp b/perception/multi_object_tracker/src/processor/processor.cpp
index 50d1a021c5838..17871c89b5258 100644
--- a/perception/multi_object_tracker/src/processor/processor.cpp
+++ b/perception/multi_object_tracker/src/processor/processor.cpp
@@ -12,15 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "multi_object_tracker/processor/processor.hpp"
+#include "processor.hpp"
 
-#include "multi_object_tracker/tracker/tracker.hpp"
+#include "autoware/multi_object_tracker/tracker/tracker.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
 #include "autoware_perception_msgs/msg/tracked_objects.hpp"
 
 #include <iterator>
 
+namespace autoware::multi_object_tracker
+{
+
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 
 TrackerProcessor::TrackerProcessor(
@@ -248,3 +251,5 @@ void TrackerProcessor::getTentativeObjects(
     }
   }
 }
+
+}  // namespace autoware::multi_object_tracker
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/processor/processor.hpp b/perception/multi_object_tracker/src/processor/processor.hpp
similarity index 91%
rename from perception/multi_object_tracker/include/multi_object_tracker/processor/processor.hpp
rename to perception/multi_object_tracker/src/processor/processor.hpp
index 6d0dbcd036e53..5eac113b3974c 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/processor/processor.hpp
+++ b/perception/multi_object_tracker/src/processor/processor.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MULTI_OBJECT_TRACKER__PROCESSOR__PROCESSOR_HPP_
-#define MULTI_OBJECT_TRACKER__PROCESSOR__PROCESSOR_HPP_
+#ifndef PROCESSOR__PROCESSOR_HPP_
+#define PROCESSOR__PROCESSOR_HPP_
 
-#include "multi_object_tracker/tracker/model/tracker_base.hpp"
+#include "autoware/multi_object_tracker/tracker/model/tracker_base.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -29,6 +29,8 @@
 #include <unordered_map>
 #include <vector>
 
+namespace autoware::multi_object_tracker
+{
 class TrackerProcessor
 {
 public:
@@ -78,4 +80,6 @@ class TrackerProcessor
     const geometry_msgs::msg::Transform & self_transform, const uint & channel_index) const;
 };
 
-#endif  // MULTI_OBJECT_TRACKER__PROCESSOR__PROCESSOR_HPP_
+}  // namespace autoware::multi_object_tracker
+
+#endif  // PROCESSOR__PROCESSOR_HPP_