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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_visitor.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_visitor.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/parameters.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/turn_signal_decider.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/turn_signal_decider.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/drivable_area_expansion.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/drivable_area_expansion.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/footprints.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/footprints.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/map_utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/map_utils.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/common_module_data.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/common_module_data.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_utils.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/traffic_light_utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/traffic_light_utils.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp
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diff --git a/planning/autoware_behavior_path_planner_common/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml
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diff --git a/planning/autoware_behavior_path_planner_common/src/interface/scene_module_visitor.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_visitor.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/src/interface/steering_factor_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/steering_factor_interface.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/src/turn_signal_decider.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/turn_signal_decider.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/map_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/map_utils.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/src/utils/path_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/test/test_safety_check.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_safety_check.cpp
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diff --git a/planning/autoware_behavior_path_planner_common/test/test_turn_signal.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_turn_signal.cpp
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diff --git a/planning/autoware_behavior_path_sampling_planner_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CMakeLists.txt
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diff --git a/planning/autoware_behavior_path_sampling_planner_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/README.md
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diff --git a/planning/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp
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diff --git a/planning/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp
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diff --git a/planning/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_parameters.hpp
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diff --git a/planning/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/util.hpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/util.hpp
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diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/shift_line_generator.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/shift_line_generator.hpp
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/shift_line_generator.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/shift_line_generator.hpp
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/plugins.xml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/plugins.xml
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/plugins.xml
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/plugins.xml
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp
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rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp
rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp