diff --git a/aip_x1_launch/launch/new_livox_horizon.launch.py b/aip_x1_launch/launch/new_livox_horizon.launch.py
index 922d23ba..4f262a16 100644
--- a/aip_x1_launch/launch/new_livox_horizon.launch.py
+++ b/aip_x1_launch/launch/new_livox_horizon.launch.py
@@ -47,8 +47,8 @@ def get_livox_tag_filter_component():
 def get_crop_box_min_range_component(context, livox_frame_id):
     use_tag_filter = IfCondition(LaunchConfiguration("use_tag_filter")).evaluate(context)
     crop_box_min_range_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
         name="crop_box_filter_min_range",
         remappings=[
             ("input", "livox/tag_filtered/lidar" if use_tag_filter else "livox/lidar"),
diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
index 8d799261..639705b6 100644
--- a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
@@ -26,8 +26,8 @@
 def launch_setup(context, *args, **kwargs):
     # set concat filter as a component
     concat_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
         name="concatenate_data",
         remappings=[
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
diff --git a/aip_x1_launch/launch/velodyne_node_container.launch.py b/aip_x1_launch/launch/velodyne_node_container.launch.py
index 2ce274b1..96e72a17 100644
--- a/aip_x1_launch/launch/velodyne_node_container.launch.py
+++ b/aip_x1_launch/launch/velodyne_node_container.launch.py
@@ -94,8 +94,8 @@ def create_parameter_dict(*args):
 
     nodes.append(
         ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
             name="crop_box_filter_self",
             remappings=[
                 ("input", "pointcloud_raw_ex"),
@@ -108,8 +108,8 @@ def create_parameter_dict(*args):
 
     nodes.append(
         ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
             name="distortion_corrector_node",
             remappings=[
                 ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
@@ -130,8 +130,8 @@ def create_parameter_dict(*args):
         }  # keep the output frame as the input frame
     nodes.append(
         ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
             name="ring_outlier_filter",
             remappings=[
                 ("input", "rectified/pointcloud_ex"),
diff --git a/aip_x1_launch/package.xml b/aip_x1_launch/package.xml
index b565a5d9..7cf419ac 100644
--- a/aip_x1_launch/package.xml
+++ b/aip_x1_launch/package.xml
@@ -10,10 +10,10 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>autoware_compare_map_segmentation</exec_depend>
   <exec_depend>gnss_poser</exec_depend>
   <exec_depend>imu_corrector</exec_depend>
-  <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>ublox_gps</exec_depend>
diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py
index b950761e..17a1d97c 100644
--- a/aip_x2_launch/launch/pandar_node_container.launch.py
+++ b/aip_x2_launch/launch/pandar_node_container.launch.py
@@ -136,8 +136,8 @@ def create_parameter_dict(*args):
     cropbox_parameters["max_z"] = vehicle_info["max_height_offset"]
 
     self_crop_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
         name="crop_box_filter_self",
         remappings=[
             ("input", "pointcloud_raw_ex"),
@@ -159,8 +159,8 @@ def create_parameter_dict(*args):
     )
 
     right_mirror_crop_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
         name="crop_box_filter_mirror_right",
         remappings=[
             ("input", "self_cropped/pointcloud_ex"),
@@ -181,8 +181,8 @@ def create_parameter_dict(*args):
     )
 
     left_mirror_crop_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
         name="crop_box_filter_mirror_left",
         remappings=[
             ("input", "right_mirror_cropped/pointcloud_ex"),
@@ -193,8 +193,8 @@ def create_parameter_dict(*args):
     )
 
     undistort_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
         name="distortion_corrector_node",
         remappings=[
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
@@ -214,8 +214,8 @@ def create_parameter_dict(*args):
             "output_frame": ""
         }  # keep the output frame as the input frame
     ring_outlier_filter_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
         name="ring_outlier_filter",
         remappings=[
             ("input", "rectified/pointcloud_ex"),
@@ -226,8 +226,8 @@ def create_parameter_dict(*args):
     )
 
     dual_return_filter_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::DualReturnOutlierFilterComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::DualReturnOutlierFilterComponent",
         name="dual_return_filter",
         remappings=[
             ("input", "rectified/pointcloud_ex"),
@@ -246,8 +246,8 @@ def create_parameter_dict(*args):
 
     distance_range = str2vector(context.perform_substitution(LaunchConfiguration("distance_range")))
     blockage_diag_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::BlockageDiagComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::BlockageDiagComponent",
         name="blockage_return_diag",
         remappings=[
             ("input", "pointcloud_raw_ex"),
diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
index 3c0a09d8..827d68ab 100644
--- a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
@@ -27,8 +27,8 @@
 def launch_setup(context, *args, **kwargs):
     # set concat filter as a component
     concat_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
         name="concatenate_data",
         remappings=[
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
diff --git a/aip_x2_launch/package.xml b/aip_x2_launch/package.xml
index 65402aa1..b26c7777 100644
--- a/aip_x2_launch/package.xml
+++ b/aip_x2_launch/package.xml
@@ -10,11 +10,11 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>dummy_diag_publisher</exec_depend>
   <exec_depend>gnss_poser</exec_depend>
   <exec_depend>imu_corrector</exec_depend>
-  <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>septentrio_gnss_driver</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
diff --git a/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py
index 433b7f58..8d2428d5 100644
--- a/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py
@@ -27,8 +27,8 @@
 def launch_setup(context, *args, **kwargs):
     # set concat filter as a component
     concat_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
         name="concatenate_data",
         remappings=[
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml
index 8f2f9df9..5934d08a 100644
--- a/aip_xx1_gen2_launch/package.xml
+++ b/aip_xx1_gen2_launch/package.xml
@@ -10,12 +10,12 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>glog_component</exec_depend>
   <exec_depend>gnss_poser</exec_depend>
   <exec_depend>imu_corrector</exec_depend>
   <exec_depend>pacmod3</exec_depend>
-  <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>ros2_socketcan</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index 726171f9..521fe463 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -27,8 +27,8 @@
 def launch_setup(context, *args, **kwargs):
     # set concat filter as a component
     concat_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
         name="concatenate_data",
         remappings=[
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
diff --git a/aip_xx1_launch/package.xml b/aip_xx1_launch/package.xml
index 93246e4b..94462318 100644
--- a/aip_xx1_launch/package.xml
+++ b/aip_xx1_launch/package.xml
@@ -10,12 +10,12 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>glog_component</exec_depend>
   <exec_depend>gnss_poser</exec_depend>
   <exec_depend>imu_corrector</exec_depend>
   <exec_depend>pacmod3</exec_depend>
-  <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>ros2_socketcan</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
diff --git a/common_sensor_launch/launch/livox_horizon.launch.py b/common_sensor_launch/launch/livox_horizon.launch.py
index 4b3a996c..2a9c06f9 100644
--- a/common_sensor_launch/launch/livox_horizon.launch.py
+++ b/common_sensor_launch/launch/livox_horizon.launch.py
@@ -67,8 +67,8 @@ def get_livox_tag_filter_component(ns):
 def get_crop_box_min_range_component(ns, context):
     use_tag_filter = IfCondition(LaunchConfiguration("use_tag_filter")).evaluate(context)
     crop_box_min_range_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
         name=ns + "_crop_box_filter_min_range",
         remappings=[
             ("input", ns + "/livox/tag_filtered/lidar" if use_tag_filter else ns + "/livox/lidar"),
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index 4d7a44e7..e9660646 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -171,8 +171,8 @@ def create_parameter_dict(*args):
 
     nodes.append(
         ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
             name="crop_box_filter_self",
             remappings=[
                 ("input", "pointcloud_raw_ex"),
@@ -193,8 +193,8 @@ def create_parameter_dict(*args):
 
     nodes.append(
         ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
             name="crop_box_filter_mirror",
             remappings=[
                 ("input", "self_cropped/pointcloud_ex"),
@@ -207,8 +207,8 @@ def create_parameter_dict(*args):
 
     nodes.append(
         ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
             name="distortion_corrector_node",
             remappings=[
                 ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
@@ -230,8 +230,8 @@ def create_parameter_dict(*args):
         }  # keep the output frame as the input frame
     nodes.append(
         ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
             name="ring_outlier_filter",
             remappings=[
                 ("input", "rectified/pointcloud_ex"),
@@ -286,8 +286,8 @@ def create_parameter_dict(*args):
     )
 
     blockage_diag_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::BlockageDiagComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::BlockageDiagComponent",
         name="blockage_diag",
         remappings=[
             ("input", "pointcloud_raw_ex"),
diff --git a/common_sensor_launch/launch/new_livox_horizon.launch.py b/common_sensor_launch/launch/new_livox_horizon.launch.py
index b887159f..9d1075fd 100644
--- a/common_sensor_launch/launch/new_livox_horizon.launch.py
+++ b/common_sensor_launch/launch/new_livox_horizon.launch.py
@@ -47,8 +47,8 @@ def get_livox_tag_filter_component():
 def get_crop_box_min_range_component(context, livox_frame_id):
     use_tag_filter = IfCondition(LaunchConfiguration("use_tag_filter")).evaluate(context)
     crop_box_min_range_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
         name="crop_box_filter_min_range",
         remappings=[
             ("input", "livox/tag_filtered/lidar" if use_tag_filter else "livox/lidar"),