diff --git a/control/autoware_joy_controller/include/autoware_joy_controller/joy_controller.hpp b/control/autoware_joy_controller/include/autoware/joy_controller/joy_controller.hpp
similarity index 95%
rename from control/autoware_joy_controller/include/autoware_joy_controller/joy_controller.hpp
rename to control/autoware_joy_controller/include/autoware/joy_controller/joy_controller.hpp
index 88371455def62..ec52fe89409bd 100644
--- a/control/autoware_joy_controller/include/autoware_joy_controller/joy_controller.hpp
+++ b/control/autoware_joy_controller/include/autoware/joy_controller/joy_controller.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_JOY_CONTROLLER__JOY_CONTROLLER_HPP_
-#define AUTOWARE_JOY_CONTROLLER__JOY_CONTROLLER_HPP_
+#ifndef AUTOWARE__JOY_CONTROLLER__JOY_CONTROLLER_HPP_
+#define AUTOWARE__JOY_CONTROLLER__JOY_CONTROLLER_HPP_
 
-#include "autoware_joy_controller/joy_converter/joy_converter_base.hpp"
+#include "autoware/joy_controller/joy_converter/joy_converter_base.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/ros/polling_subscriber.hpp>
@@ -122,4 +122,4 @@ class AutowareJoyControllerNode : public rclcpp::Node
 };
 }  // namespace autoware::joy_controller
 
-#endif  // AUTOWARE_JOY_CONTROLLER__JOY_CONTROLLER_HPP_
+#endif  // AUTOWARE__JOY_CONTROLLER__JOY_CONTROLLER_HPP_
diff --git a/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/ds4_joy_converter.hpp b/control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/ds4_joy_converter.hpp
similarity index 92%
rename from control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/ds4_joy_converter.hpp
rename to control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/ds4_joy_converter.hpp
index 7cfac1af8662b..26878e1bd73cb 100644
--- a/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/ds4_joy_converter.hpp
+++ b/control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/ds4_joy_converter.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__DS4_JOY_CONVERTER_HPP_
-#define AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__DS4_JOY_CONVERTER_HPP_
+#ifndef AUTOWARE__JOY_CONTROLLER__JOY_CONVERTER__DS4_JOY_CONVERTER_HPP_
+#define AUTOWARE__JOY_CONTROLLER__JOY_CONVERTER__DS4_JOY_CONVERTER_HPP_
 
-#include "autoware_joy_controller/joy_converter/joy_converter_base.hpp"
+#include "autoware/joy_controller/joy_converter/joy_converter_base.hpp"
 
 #include <algorithm>
 
@@ -92,4 +92,4 @@ class DS4JoyConverter : public JoyConverterBase
 };
 }  // namespace autoware::joy_controller
 
-#endif  // AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__DS4_JOY_CONVERTER_HPP_
+#endif  // AUTOWARE__JOY_CONTROLLER__JOY_CONVERTER__DS4_JOY_CONVERTER_HPP_
diff --git a/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/g29_joy_converter.hpp b/control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/g29_joy_converter.hpp
similarity index 91%
rename from control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/g29_joy_converter.hpp
rename to control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/g29_joy_converter.hpp
index a36ad3a580287..ea253e86305b7 100644
--- a/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/g29_joy_converter.hpp
+++ b/control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/g29_joy_converter.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__G29_JOY_CONVERTER_HPP_
-#define AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__G29_JOY_CONVERTER_HPP_
+#ifndef AUTOWARE__JOY_CONTROLLER__JOY_CONVERTER__G29_JOY_CONVERTER_HPP_
+#define AUTOWARE__JOY_CONTROLLER__JOY_CONVERTER__G29_JOY_CONVERTER_HPP_
 
-#include "autoware_joy_controller/joy_converter/joy_converter_base.hpp"
+#include "autoware/joy_controller/joy_converter/joy_converter_base.hpp"
 
 namespace autoware::joy_controller
 {
@@ -90,4 +90,4 @@ class G29JoyConverter : public JoyConverterBase
 };
 }  // namespace autoware::joy_controller
 
-#endif  // AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__G29_JOY_CONVERTER_HPP_
+#endif  // AUTOWARE__JOY_CONTROLLER__JOY_CONVERTER__G29_JOY_CONVERTER_HPP_
diff --git a/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/joy_converter_base.hpp b/control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/joy_converter_base.hpp
similarity index 86%
rename from control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/joy_converter_base.hpp
rename to control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/joy_converter_base.hpp
index 98a8b799d71a9..fa6081721511c 100644
--- a/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/joy_converter_base.hpp
+++ b/control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/joy_converter_base.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__JOY_CONVERTER_BASE_HPP_
-#define AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__JOY_CONVERTER_BASE_HPP_
+#ifndef AUTOWARE__JOY_CONTROLLER__JOY_CONVERTER__JOY_CONVERTER_BASE_HPP_
+#define AUTOWARE__JOY_CONTROLLER__JOY_CONVERTER__JOY_CONVERTER_BASE_HPP_
 
 #include <sensor_msgs/msg/joy.hpp>
 
@@ -52,4 +52,4 @@ class JoyConverterBase
 };
 }  // namespace autoware::joy_controller
 
-#endif  // AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__JOY_CONVERTER_BASE_HPP_
+#endif  // AUTOWARE__JOY_CONTROLLER__JOY_CONVERTER__JOY_CONVERTER_BASE_HPP_
diff --git a/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/p65_joy_converter.hpp b/control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/p65_joy_converter.hpp
similarity index 90%
rename from control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/p65_joy_converter.hpp
rename to control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/p65_joy_converter.hpp
index a6f51cb95b44d..aebe38433e219 100644
--- a/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/p65_joy_converter.hpp
+++ b/control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/p65_joy_converter.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__P65_JOY_CONVERTER_HPP_
-#define AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__P65_JOY_CONVERTER_HPP_
+#ifndef AUTOWARE__JOY_CONTROLLER__JOY_CONVERTER__P65_JOY_CONVERTER_HPP_
+#define AUTOWARE__JOY_CONTROLLER__JOY_CONVERTER__P65_JOY_CONVERTER_HPP_
 
-#include "autoware_joy_controller/joy_converter/joy_converter_base.hpp"
+#include "autoware/joy_controller/joy_converter/joy_converter_base.hpp"
 
 #include <algorithm>
 
@@ -78,4 +78,4 @@ class P65JoyConverter : public JoyConverterBase
 };
 }  // namespace autoware::joy_controller
 
-#endif  // AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__P65_JOY_CONVERTER_HPP_
+#endif  // AUTOWARE__JOY_CONTROLLER__JOY_CONVERTER__P65_JOY_CONVERTER_HPP_
diff --git a/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/xbox_joy_converter.hpp b/control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/xbox_joy_converter.hpp
similarity index 90%
rename from control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/xbox_joy_converter.hpp
rename to control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/xbox_joy_converter.hpp
index 776b0c98b7835..9d0c53b3e42cf 100644
--- a/control/autoware_joy_controller/include/autoware_joy_controller/joy_converter/xbox_joy_converter.hpp
+++ b/control/autoware_joy_controller/include/autoware/joy_controller/joy_converter/xbox_joy_converter.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_
-#define AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_
+#ifndef AUTOWARE__JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_
+#define AUTOWARE__JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_
 
-#include "autoware_joy_controller/joy_converter/joy_converter_base.hpp"
+#include "autoware/joy_controller/joy_converter/joy_converter_base.hpp"
 
 #include <algorithm>
 
@@ -78,4 +78,4 @@ class XBOXJoyConverter : public JoyConverterBase
 };
 }  // namespace autoware::joy_controller
 
-#endif  // AUTOWARE_JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_
+#endif  // AUTOWARE__JOY_CONTROLLER__JOY_CONVERTER__XBOX_JOY_CONVERTER_HPP_
diff --git a/control/autoware_joy_controller/src/joy_controller_node.cpp b/control/autoware_joy_controller/src/joy_controller_node.cpp
index 2491893a2806c..6d3d6ffed3b8b 100644
--- a/control/autoware_joy_controller/src/joy_controller_node.cpp
+++ b/control/autoware_joy_controller/src/joy_controller_node.cpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_joy_controller/joy_controller.hpp"
-#include "autoware_joy_controller/joy_converter/ds4_joy_converter.hpp"
-#include "autoware_joy_controller/joy_converter/g29_joy_converter.hpp"
-#include "autoware_joy_controller/joy_converter/p65_joy_converter.hpp"
-#include "autoware_joy_controller/joy_converter/xbox_joy_converter.hpp"
+#include "autoware/joy_controller/joy_controller.hpp"
+#include "autoware/joy_controller/joy_converter/ds4_joy_converter.hpp"
+#include "autoware/joy_controller/joy_converter/g29_joy_converter.hpp"
+#include "autoware/joy_controller/joy_converter/p65_joy_converter.hpp"
+#include "autoware/joy_controller/joy_converter/xbox_joy_converter.hpp"
 
 #include <tier4_api_utils/tier4_api_utils.hpp>