From 7874b7df75f3c112e2004a1de8583290b879c021 Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Mon, 17 Jun 2024 18:42:10 +0900 Subject: [PATCH] make behavior_path dir Signed-off-by: kosuke55 --- .../CMakeLists.txt | 0 .../README.md | 0 .../config/avoidance_by_lane_change.param.yaml | 0 .../images/avoidance_by_lane_change.svg | 0 .../images/avoidance_by_lc_trigger_1.svg | 0 .../images/avoidance_by_lc_trigger_2.svg | 0 .../package.xml | 0 .../plugins.xml | 0 .../src/data_structs.hpp | 0 .../src/interface.cpp | 0 .../src/interface.hpp | 0 .../src/manager.cpp | 0 .../src/manager.hpp | 0 .../src/scene.cpp | 0 .../src/scene.hpp | 0 .../test_behavior_path_planner_node_interface.cpp | 0 .../CMakeLists.txt | 0 .../README.md | 0 .../config/dynamic_obstacle_avoidance.param.yaml | 0 .../image/2024-04-18_15-13-01.png | Bin .../image/2024-04-18_15-32-03.png | Bin .../image/drivable_area_extraction_width.drawio.svg | 0 .../image/image-20230807-151945.png | Bin .../image/image-20230807-152835.png | Bin .../image/image-20230808-095936.png | Bin .../image/image-20230808-152853.png | Bin .../image/opposite_directional_object.svg | 0 .../image/same_directional_object.svg | 0 .../manager.hpp | 0 .../scene.hpp | 0 .../package.xml | 0 .../plugins.xml | 0 .../src/manager.cpp | 0 .../src/scene.cpp | 0 .../test_behavior_path_planner_node_interface.cpp | 0 .../CMakeLists.txt | 0 .../package.xml | 0 .../plugins.xml | 0 .../src/manager.cpp | 0 .../src/manager.hpp | 0 .../src/scene.cpp | 0 .../src/scene.hpp | 0 .../test_behavior_path_planner_node_interface.cpp | 0 .../CMakeLists.txt | 0 .../README.md | 0 .../config/goal_planner.param.yaml | 0 .../images/arc_backward_parking.drawio.svg | 0 .../images/arc_forward_parking.drawio.svg | 0 .../goal_planner-collision_check_margin.drawio.svg | 0 .../images/goal_planner-deciding_path.drawio.svg | 0 .../images/goal_planner-goal_candidates.drawio.svg | 0 .../images/goal_planner-goal_distance.drawio.svg | 0 .../images/goal_planner-is_safe.drawio.svg | 0 .../goal_planner-longitudinal_margin.drawio.svg | 0 .../images/goal_planner-object_to_avoid.drawio.svg | 0 .../images/goal_planner-refined_goal.drawio.svg | 0 .../images/goal_planner-safety_check.drawio.svg | 0 .../images/goal_planner-threads.drawio.svg | 0 .../images/goal_priority_object_to_avoid_rviz.png | Bin .../images/goal_priority_rviz.png | Bin .../images/goal_priority_with_goal.png | Bin .../images/path_goal_refinement.drawio.svg | 0 ...pull_over_freespace_parking_flowchart.drawio.svg | 0 .../images/shift_parking.drawio.svg | 0 .../default_fixed_goal_planner.hpp | 0 .../fixed_goal_planner_base.hpp | 0 .../freespace_pull_over.hpp | 0 .../geometric_pull_over.hpp | 0 .../goal_planner_module.hpp | 0 .../goal_planner_parameters.hpp | 0 .../goal_searcher.hpp | 0 .../goal_searcher_base.hpp | 0 .../behavior_path_goal_planner_module/manager.hpp | 0 .../pull_over_planner_base.hpp | 0 .../shift_pull_over.hpp | 0 .../behavior_path_goal_planner_module/util.hpp | 0 .../package.xml | 0 .../plugins.xml | 0 .../src/default_fixed_goal_planner.cpp | 0 .../src/freespace_pull_over.cpp | 0 .../src/geometric_pull_over.cpp | 0 .../src/goal_planner_module.cpp | 0 .../src/goal_searcher.cpp | 0 .../src/manager.cpp | 0 .../src/shift_pull_over.cpp | 0 .../src/util.cpp | 0 .../CMakeLists.txt | 0 .../README.md | 0 .../config/lane_change.param.yaml | 0 .../images/lane_change-abort.png | Bin .../images/lane_change-cancel.png | Bin .../images/lane_change-candidate_path_samples.png | Bin .../images/lane_change-cant_cancel_no_abort.png | Bin .../images/lane_change-debug-1.png | Bin .../images/lane_change-debug-2.png | Bin .../images/lane_change-debug-3.png | Bin ...ange-enable_collision_check_at_prepare_phase.png | Bin .../images/lane_change-intersection_case.png | Bin .../images/lane_change-lane_change_phases.png | Bin .../images/lane_change-lane_expansion-with.png | Bin .../images/lane_change-lane_expansion-without.png | Bin .../images/lane_change-stop_at_terminal.drawio.svg | 0 ...lane_change-stop_at_terminal_no_block.drawio.svg | 0 ...lane_change-stop_far_from_target_lane.drawio.svg | 0 .../lane_change-stop_not_at_terminal.drawio.svg | 0 ...op_not_at_terminal_no_blocking_object.drawio.svg | 0 .../images/lane_change-when_cannot_change_lanes.png | Bin .../images/lane_change.drawio.svg | 0 .../images/lane_objects.drawio.svg | 0 .../behavior_path_lane_change_module/interface.hpp | 0 .../behavior_path_lane_change_module/manager.hpp | 0 .../behavior_path_lane_change_module/scene.hpp | 0 .../utils/base_class.hpp | 0 .../utils/data_structs.hpp | 0 .../utils/debug_structs.hpp | 0 .../utils/markers.hpp | 0 .../behavior_path_lane_change_module/utils/path.hpp | 0 .../utils/utils.hpp | 0 .../package.xml | 0 .../plugins.xml | 0 .../src/interface.cpp | 0 .../src/manager.cpp | 0 .../src/scene.cpp | 0 .../src/utils/markers.cpp | 0 .../src/utils/utils.cpp | 0 .../test_behavior_path_planner_node_interface.cpp | 0 .../test/test_lane_change_utils.cpp | 0 .../autoware_behavior_path_planner/CMakeLists.txt | 0 .../autoware_behavior_path_planner/README.md | 0 .../config/behavior_path_planner.param.yaml | 0 .../config/drivable_area_expansion.param.yaml | 0 .../config/scene_module_manager.param.yaml | 0 .../docs/behavior_path_planner_interface_design.md | 0 .../docs/behavior_path_planner_limitations.md | 0 .../docs/behavior_path_planner_manager_design.md | 0 .../image/checking_module_transition.png | Bin .../limitations/limitation-chattering_shifts.png | Bin .../image/limitations/limitation-corner.png | Bin .../image/limitations/limitation-intersection.png | Bin .../image/limitations/limitation01-01.png | Bin .../image/limitations/limitation01-02-not-work.png | Bin .../limitation01-03-not-equal-length.png | Bin .../limitations/limitation01-04-equal-length.png | Bin .../image/limitations/limitation01-04-not-equal.png | Bin .../image/manager/approved_modules_stack.svg | 0 .../image/manager/avoidance.svg | 0 .../image/manager/candidate_modules_stack.svg | 0 .../image/manager/current_route_lanelet.svg | 0 .../image/manager/example_behavior.svg | 0 .../image/manager/failure_modules.svg | 0 .../image/manager/lane_change.svg | 0 .../image/manager/lane_change_remove.svg | 0 .../image/manager/lane_change_skip.svg | 0 .../image/manager/manager_overview.svg | 0 .../image/manager/module_select.svg | 0 .../image/manager/multiple_candidates.svg | 0 .../image/manager/output_module.svg | 0 .../image/manager/process_step1.svg | 0 .../image/manager/process_step2.svg | 0 .../image/manager/process_step4.svg | 0 .../image/manager/process_step5.svg | 0 .../image/manager/process_step6.svg | 0 .../image/manager/request_step1.svg | 0 .../image/manager/request_step2-2.svg | 0 .../image/manager/request_step2-3.svg | 0 .../image/manager/request_step2.svg | 0 .../image/manager/request_step3.svg | 0 .../image/manager/request_step4-2.svg | 0 .../image/manager/request_step4-3.svg | 0 .../image/manager/request_step4.svg | 0 .../image/manager/request_step5.svg | 0 .../image/manager/root_generation.svg | 0 .../image/manager/scene_module.svg | 0 .../image/manager/sub_managers.svg | 0 .../image/manager/success_modules_remove.svg | 0 .../image/manager/success_modules_skip.svg | 0 .../image/manager/waiting_approve.svg | 0 .../image/static_drivable_area_after_expansion.png | Bin .../image/static_drivable_area_before_expansion.png | Bin .../image/supported_module_avoidance.svg | 0 .../supported_module_avoidance_by_lane_change.svg | 0 .../image/supported_module_goal_planner.svg | 0 .../image/supported_module_lane_change.svg | 0 .../image/supported_module_lane_following.svg | 0 .../image/supported_module_start_planner.svg | 0 .../behavior_path_planner_node.hpp | 0 .../behavior_path_planner/planner_manager.hpp | 0 .../launch/behavior_path_planner.launch.xml | 0 .../autoware_behavior_path_planner/package.xml | 0 .../src/behavior_path_planner_node.cpp | 0 .../src/planner_manager.cpp | 0 .../autoware_behavior_path_planner/test/input.cpp | 0 .../autoware_behavior_path_planner/test/input.hpp | 0 ...utoware_behavior_path_planner_node_interface.cpp | 0 .../test/test_utils.cpp | 0 .../CMakeLists.txt | 0 .../behavior_path_planner_drivable_area_design.md | 0 .../behavior_path_planner_path_generation_design.md | 0 .../docs/behavior_path_planner_safety_check.md | 0 .../behavior_path_planner_turn_signal_design.md | 0 .../DynamicDrivableArea-ExpDistances.drawio.svg | 0 .../DynamicDrivableArea-Expansion.drawio.svg | 0 .../DynamicDrivableArea-Expansion_Input.drawio.svg | 0 .../DynamicDrivableArea-MaxWidth.drawio.svg | 0 .../DynamicDrivableArea-MinWidth.drawio.svg | 0 .../DynamicDrivableArea-Result.drawio.svg | 0 .../drivable_area_boundary_marker_example1.png | Bin .../drivable_area_boundary_marker_example2.png | Bin .../images/drivable_area/drivable_lines.drawio.svg | 0 .../images/drivable_area/dynamic_expansion_off.png | Bin .../images/drivable_area/dynamic_expansion_on.png | Bin .../images/drivable_area/expanded_lanes.drawio.svg | 0 ...road_markings_drivable_area_expansion.drawio.svg | 0 .../images/drivable_area/sorted_lanes.drawio.svg | 0 .../extended_polygons.drawio.svg | 0 .../path_safety_checker/front_object.drawio.svg | 0 .../safety_check_flow.drawio.svg | 0 .../images/path_shifter/path_shifter.png | Bin .../activation_distance.drawio.svg | 0 .../avoidance_and_turn.drawio.svg | 0 .../avoidance_and_turn2.drawio.svg | 0 .../avoidance_first_section.drawio.svg | 0 .../avoidance_second_section.drawio.svg | 0 .../turn_signal_decider/continuous_turns.drawio.svg | 0 .../turn_signal_decider/lane_change.drawio.svg | 0 .../lane_change_and_turn.drawio.svg | 0 .../turn_signal_decider/left_right_turn.drawio.svg | 0 .../images/turn_signal_decider/pattern1.drawio.svg | 0 .../images/turn_signal_decider/pattern2.drawio.svg | 0 .../images/turn_signal_decider/pattern3.drawio.svg | 0 .../images/turn_signal_decider/pattern4.drawio.svg | 0 .../images/turn_signal_decider/pattern5.drawio.svg | 0 .../images/turn_signal_decider/pull_out.drawio.svg | 0 .../images/turn_signal_decider/pull_over.drawio.svg | 0 .../sections_definition.drawio.svg | 0 .../behavior_path_planner_common/data_manager.hpp | 0 .../interface/scene_module_interface.hpp | 0 .../interface/scene_module_manager_interface.hpp | 0 .../interface/scene_module_visitor.hpp | 0 .../interface/steering_factor_interface.hpp | 0 .../marker_utils/colors.hpp | 0 .../marker_utils/utils.hpp | 0 .../behavior_path_planner_common/parameters.hpp | 0 .../turn_signal_decider.hpp | 0 .../drivable_area_expansion.hpp | 0 .../utils/drivable_area_expansion/footprints.hpp | 0 .../utils/drivable_area_expansion/map_utils.hpp | 0 .../utils/drivable_area_expansion/parameters.hpp | 0 .../drivable_area_expansion/path_projection.hpp | 0 .../static_drivable_area.hpp | 0 .../utils/drivable_area_expansion/types.hpp | 0 .../occupancy_grid_based_collision_detector.hpp | 0 .../utils/parking_departure/common_module_data.hpp | 0 .../geometric_parallel_parking.hpp | 0 .../utils/parking_departure/utils.hpp | 0 .../utils/path_safety_checker/objects_filtering.hpp | 0 .../path_safety_checker_parameters.hpp | 0 .../utils/path_safety_checker/safety_check.hpp | 0 .../utils/path_shifter/path_shifter.hpp | 0 .../utils/path_utils.hpp | 0 .../utils/traffic_light_utils.hpp | 0 .../behavior_path_planner_common/utils/utils.hpp | 0 .../package.xml | 0 .../src/interface/scene_module_visitor.cpp | 0 .../src/interface/steering_factor_interface.cpp | 0 .../src/marker_utils/utils.cpp | 0 .../src/turn_signal_decider.cpp | 0 .../drivable_area_expansion.cpp | 0 .../utils/drivable_area_expansion/footprints.cpp | 0 .../src/utils/drivable_area_expansion/map_utils.cpp | 0 .../static_drivable_area.cpp | 0 .../occupancy_grid_based_collision_detector.cpp | 0 .../geometric_parallel_parking.cpp | 0 .../src/utils/parking_departure/utils.cpp | 0 .../utils/path_safety_checker/objects_filtering.cpp | 0 .../src/utils/path_safety_checker/safety_check.cpp | 0 .../src/utils/path_shifter/path_shifter.cpp | 0 .../src/utils/path_utils.cpp | 0 .../src/utils/traffic_light_utils.cpp | 0 .../src/utils/utils.cpp | 0 .../test/test_drivable_area_expansion.cpp | 0 .../test/test_safety_check.cpp | 0 .../test/test_turn_signal.cpp | 0 .../CMakeLists.txt | 0 .../README.md | 0 .../config/sampling_planner.param.yaml | 0 .../manager.hpp | 0 .../sampling_planner_module.hpp | 0 .../sampling_planner_parameters.hpp | 0 .../behavior_path_sampling_planner_module/util.hpp | 0 .../package.xml | 0 .../plugins.xml | 0 .../src/manager.cpp | 0 .../src/sampling_planner_module.cpp | 0 .../CMakeLists.txt | 0 .../README.md | 0 .../config/side_shift.param.yaml | 0 .../images/side_shift_status.drawio.svg | 0 .../data_structs.hpp | 0 .../behavior_path_side_shift_module/manager.hpp | 0 .../behavior_path_side_shift_module/scene.hpp | 0 .../behavior_path_side_shift_module/utils.hpp | 0 .../package.xml | 0 .../plugins.xml | 0 .../src/manager.cpp | 0 .../src/scene.cpp | 0 .../src/utils.cpp | 0 .../test_behavior_path_planner_node_interface.cpp | 0 .../CMakeLists.txt | 0 .../README.md | 0 .../config/start_planner.param.yaml | 0 .../collision_check_range_shift_pull_out.drawio.svg | 0 .../images/freespace_pull_out.png | Bin .../images/geometric_pull_out.drawio.svg | 0 .../images/geometric_pull_out_path.drawio.svg | 0 .../geometric_pull_out_path_with_back.drawio.svg | 0 .../images/priority_order.drawio.svg | 0 .../images/pull_out_after_back.drawio.svg | 0 .../images/pull_out_collision_check.drawio.svg | 0 .../images/shift_pull_out.drawio.svg | 0 .../images/shift_pull_out_path.drawio.svg | 0 .../shift_pull_out_path_from_road_lane.drawio.svg | 0 .../images/shift_pull_out_path_with_back.drawio.svg | 0 .../images/start_planner_example.png | Bin .../images/start_pose_candidate.drawio.svg | 0 .../data_structs.hpp | 0 .../behavior_path_start_planner_module/debug.hpp | 0 .../freespace_pull_out.hpp | 0 .../geometric_pull_out.hpp | 0 .../behavior_path_start_planner_module/manager.hpp | 0 .../pull_out_path.hpp | 0 .../pull_out_planner_base.hpp | 0 .../shift_pull_out.hpp | 0 .../start_planner_module.hpp | 0 .../behavior_path_start_planner_module/util.hpp | 0 .../package.xml | 0 .../plugins.xml | 0 .../src/debug.cpp | 0 .../src/freespace_pull_out.cpp | 0 .../src/geometric_pull_out.cpp | 0 .../src/manager.cpp | 0 .../src/shift_pull_out.cpp | 0 .../src/start_planner_module.cpp | 0 .../src/util.cpp | 0 .../CMakeLists.txt | 0 .../README.md | 0 .../config/static_obstacle_avoidance.param.yaml | 0 .../images/advanced/avoidance_freespace.png | Bin .../images/advanced/avoidance_intersection.png | Bin .../advanced/avoidance_opposite_direction.png | Bin .../images/advanced/avoidance_same_direction.png | Bin .../images/advanced/avoidance_zebra.png | Bin .../images/avoidance_debug_message_array.png | Bin .../images/avoidance_design.fig.drawio.svg | 0 .../images/cancel/cancel.png | Bin .../images/debug/debug_marker_rviz.png | Bin ...ath_shape_multi_object_both_direction.drawio.svg | 0 ...path_shape_multi_object_one_direction.drawio.svg | 0 .../how_to_decide_path_shape_one_object.drawio.svg | 0 .../images/intersection_problem.drawio.svg | 0 .../images/path_generation/envelope_polygon.png | Bin .../path_generation/envelope_polygon_rviz.png | Bin .../images/path_generation/lateral.png | Bin .../images/path_generation/margin.png | Bin .../images/path_generation/opposite_direction.png | Bin .../images/path_generation/polygon_update.png | Bin .../images/path_generation/same_direction.png | Bin .../images/path_generation/shift_line.png | Bin .../images/purpose/avoidance.png | Bin .../images/purpose/rviz.png | Bin .../images/safety_check/not_stop.png | Bin .../images/safety_check/safety_check_flow.png | Bin .../images/safety_check/stop.png | Bin .../images/shift_length_parameters.drawio.svg | 0 .../images/target_filter/ambiguous_deviating.png | Bin .../images/target_filter/ambiguous_merging.png | Bin .../images/target_filter/ambiguous_parallel.png | Bin .../images/target_filter/avoid_not_on_ego_lane.png | Bin .../images/target_filter/avoid_on_ego_lane.png | Bin .../images/target_filter/crosswalk.svg | 0 .../images/target_filter/detection_area.svg | 0 .../images/target_filter/detection_area_rviz.png | Bin .../images/target_filter/deviating.png | Bin .../images/target_filter/merging.png | Bin .../images/target_filter/never_avoid_deviating.png | Bin .../target_filter/never_avoid_intersection.png | Bin .../images/target_filter/never_avoid_merging.png | Bin .../images/target_filter/never_avoid_not_edge.png | Bin .../target_filter/never_avoid_stop_factor.png | Bin .../images/target_filter/none.png | Bin .../images/target_filter/parked_vehicle.svg | 0 .../images/target_vehicle_selection.svg | 0 .../data_structs.hpp | 0 .../debug.hpp | 0 .../helper.hpp | 0 .../manager.hpp | 0 .../parameter_helper.hpp | 0 .../scene.hpp | 0 .../shift_line_generator.hpp | 0 .../type_alias.hpp | 0 .../utils.hpp | 0 .../package.xml | 0 .../plugins.xml | 0 .../schema/static_obstacle_avoidance.schema.json | 0 .../src/debug.cpp | 0 .../src/manager.cpp | 0 .../src/scene.cpp | 0 .../src/shift_line_generator.cpp | 0 .../src/utils.cpp | 0 .../test_behavior_path_planner_node_interface.cpp | 0 .../test/test_utils.cpp | 0 411 files changed, 0 insertions(+), 0 deletions(-) rename planning/{ => behavior_path_planner}/autoware_behavior_path_avoidance_by_lane_change_module/CMakeLists.txt (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_avoidance_by_lane_change_module/README.md (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_avoidance_by_lane_change_module/config/avoidance_by_lane_change.param.yaml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lane_change.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_1.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_2.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_avoidance_by_lane_change_module/package.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_avoidance_by_lane_change_module/plugins.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_avoidance_by_lane_change_module/src/data_structs.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/CMakeLists.txt (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/config/dynamic_obstacle_avoidance.param.yaml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/2024-04-18_15-13-01.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/2024-04-18_15-32-03.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/drivable_area_extraction_width.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230807-151945.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230807-152835.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230808-095936.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230808-152853.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/opposite_directional_object.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/same_directional_object.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/plugins.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/manager.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_external_request_lane_change_module/CMakeLists.txt (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_external_request_lane_change_module/package.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_external_request_lane_change_module/plugins.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_external_request_lane_change_module/src/scene.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_external_request_lane_change_module/src/scene.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/CMakeLists.txt (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/README.md (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/images/arc_backward_parking.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/images/arc_forward_parking.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/images/goal_planner-collision_check_margin.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/images/goal_planner-deciding_path.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/images/goal_planner-goal_candidates.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/images/goal_planner-goal_distance.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/images/goal_planner-is_safe.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/images/goal_planner-longitudinal_margin.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/images/goal_planner-object_to_avoid.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/images/goal_planner-refined_goal.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/images/goal_planner-safety_check.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/images/goal_planner-threads.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/images/goal_priority_object_to_avoid_rviz.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/images/goal_priority_rviz.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/images/goal_priority_with_goal.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/images/path_goal_refinement.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/images/pull_over_freespace_parking_flowchart.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/images/shift_parking.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/default_fixed_goal_planner.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/fixed_goal_planner_base.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/freespace_pull_over.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/geometric_pull_over.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/manager.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/shift_pull_over.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/package.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/plugins.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/src/default_fixed_goal_planner.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/src/geometric_pull_over.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/src/manager.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_goal_planner_module/src/util.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/CMakeLists.txt (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/README.md (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change-abort.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change-cancel.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change-candidate_path_samples.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change-cant_cancel_no_abort.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change-debug-1.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change-debug-2.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change-debug-3.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change-enable_collision_check_at_prepare_phase.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change-intersection_case.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change-lane_change_phases.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change-lane_expansion-with.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change-lane_expansion-without.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change-stop_at_terminal.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change-stop_at_terminal_no_block.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change-stop_far_from_target_lane.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change-stop_not_at_terminal.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change-stop_not_at_terminal_no_blocking_object.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change-when_cannot_change_lanes.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_change.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/images/lane_objects.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/debug_structs.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/package.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/plugins.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/src/interface.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/src/manager.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/src/scene.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/src/utils/markers.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/src/utils/utils.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/CMakeLists.txt (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/README.md (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/config/drivable_area_expansion.param.yaml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/config/scene_module_manager.param.yaml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/docs/behavior_path_planner_interface_design.md (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/docs/behavior_path_planner_limitations.md (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/checking_module_transition.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/limitations/limitation-chattering_shifts.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/limitations/limitation-corner.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/limitations/limitation-intersection.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/limitations/limitation01-01.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/limitations/limitation01-02-not-work.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/limitations/limitation01-03-not-equal-length.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/limitations/limitation01-04-equal-length.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/limitations/limitation01-04-not-equal.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/approved_modules_stack.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/avoidance.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/candidate_modules_stack.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/current_route_lanelet.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/example_behavior.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/failure_modules.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/lane_change.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/lane_change_remove.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/lane_change_skip.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/manager_overview.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/module_select.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/multiple_candidates.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/output_module.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/process_step1.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/process_step2.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/process_step4.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/process_step5.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/process_step6.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/request_step1.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/request_step2-2.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/request_step2-3.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/request_step2.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/request_step3.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/request_step4-2.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/request_step4-3.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/request_step4.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/request_step5.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/root_generation.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/scene_module.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/sub_managers.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/success_modules_remove.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/success_modules_skip.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/manager/waiting_approve.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/static_drivable_area_after_expansion.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/static_drivable_area_before_expansion.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/supported_module_avoidance.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/supported_module_avoidance_by_lane_change.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/supported_module_goal_planner.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/supported_module_lane_change.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/supported_module_lane_following.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/image/supported_module_start_planner.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/launch/behavior_path_planner.launch.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/package.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/src/planner_manager.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/test/input.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/test/input.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner/test/test_utils.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/CMakeLists.txt (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design.md (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/docs/behavior_path_planner_path_generation_design.md (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/docs/behavior_path_planner_safety_check.md (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/docs/behavior_path_planner_turn_signal_design.md (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-ExpDistances.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-Expansion.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-Expansion_Input.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-MaxWidth.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-MinWidth.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-Result.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/drivable_area/drivable_area_boundary_marker_example1.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/drivable_area/drivable_area_boundary_marker_example2.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/drivable_area/drivable_lines.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/drivable_area/dynamic_expansion_off.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/drivable_area/dynamic_expansion_on.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/drivable_area/expanded_lanes.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/drivable_area/hatched_road_markings_drivable_area_expansion.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/drivable_area/sorted_lanes.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/path_safety_checker/extended_polygons.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/path_safety_checker/front_object.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/path_safety_checker/safety_check_flow.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/path_shifter/path_shifter.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/turn_signal_decider/activation_distance.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_and_turn.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_and_turn2.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_first_section.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_second_section.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/turn_signal_decider/continuous_turns.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/turn_signal_decider/lane_change.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/turn_signal_decider/lane_change_and_turn.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/turn_signal_decider/left_right_turn.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern1.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern2.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern3.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern4.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern5.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/turn_signal_decider/pull_out.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/turn_signal_decider/pull_over.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/images/turn_signal_decider/sections_definition.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_visitor.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/marker_utils/colors.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/marker_utils/utils.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/parameters.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/turn_signal_decider.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/drivable_area_expansion.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/footprints.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/map_utils.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp (100%) rename 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 (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/common_module_data.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_utils.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/traffic_light_utils.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/package.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/src/interface/scene_module_visitor.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/src/interface/steering_factor_interface.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/src/turn_signal_decider.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/map_utils.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/src/utils/path_utils.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/src/utils/utils.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/test/test_safety_check.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_planner_common/test/test_turn_signal.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_sampling_planner_module/CMakeLists.txt (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_sampling_planner_module/README.md (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_sampling_planner_module/config/sampling_planner.param.yaml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_parameters.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/util.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_sampling_planner_module/package.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_sampling_planner_module/plugins.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_sampling_planner_module/src/manager.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_side_shift_module/CMakeLists.txt (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_side_shift_module/README.md (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_side_shift_module/config/side_shift.param.yaml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_side_shift_module/images/side_shift_status.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/data_structs.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/utils.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_side_shift_module/package.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_side_shift_module/plugins.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_side_shift_module/src/manager.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_side_shift_module/src/scene.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_side_shift_module/src/utils.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/CMakeLists.txt (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/README.md (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/images/collision_check_range_shift_pull_out.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/images/freespace_pull_out.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/images/geometric_pull_out.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/images/geometric_pull_out_path.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/images/geometric_pull_out_path_with_back.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/images/priority_order.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/images/pull_out_after_back.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/images/pull_out_collision_check.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/images/shift_pull_out.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/images/shift_pull_out_path.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/images/shift_pull_out_path_from_road_lane.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/images/shift_pull_out_path_with_back.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/images/start_planner_example.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/images/start_pose_candidate.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/data_structs.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/debug.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/freespace_pull_out.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/geometric_pull_out.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_path.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/shift_pull_out.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/util.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/package.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/plugins.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/src/debug.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/src/manager.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_start_planner_module/src/util.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/CMakeLists.txt (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/README.md (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/config/static_obstacle_avoidance.param.yaml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_freespace.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_intersection.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_opposite_direction.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_same_direction.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_zebra.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/avoidance_debug_message_array.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/avoidance_design.fig.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/cancel/cancel.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/debug/debug_marker_rviz.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/how_to_decide_path_shape_multi_object_both_direction.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/how_to_decide_path_shape_multi_object_one_direction.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/how_to_decide_path_shape_one_object.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/intersection_problem.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/envelope_polygon.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/envelope_polygon_rviz.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/lateral.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/margin.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/opposite_direction.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/polygon_update.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/same_direction.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/shift_line.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/purpose/avoidance.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/purpose/rviz.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/safety_check/not_stop.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/safety_check/safety_check_flow.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/safety_check/stop.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/shift_length_parameters.drawio.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/ambiguous_deviating.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/ambiguous_merging.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/ambiguous_parallel.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/avoid_not_on_ego_lane.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/avoid_on_ego_lane.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/crosswalk.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/detection_area.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/detection_area_rviz.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/deviating.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/merging.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_deviating.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_intersection.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_merging.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_not_edge.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_stop_factor.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/none.png (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/parked_vehicle.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/images/target_vehicle_selection.svg (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/shift_line_generator.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/utils.hpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/package.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/plugins.xml (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp (100%) rename planning/{ => behavior_path_planner}/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp (100%) diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CMakeLists.txt similarity index 100% rename from planning/autoware_behavior_path_avoidance_by_lane_change_module/CMakeLists.txt rename to planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/CMakeLists.txt diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/README.md similarity index 100% rename from planning/autoware_behavior_path_avoidance_by_lane_change_module/README.md rename to planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/README.md diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/config/avoidance_by_lane_change.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/config/avoidance_by_lane_change.param.yaml similarity index 100% rename from planning/autoware_behavior_path_avoidance_by_lane_change_module/config/avoidance_by_lane_change.param.yaml rename to planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/config/avoidance_by_lane_change.param.yaml diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lane_change.svg b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lane_change.svg similarity index 100% rename from planning/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lane_change.svg rename to planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lane_change.svg diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_1.svg b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_1.svg similarity index 100% rename from planning/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_1.svg rename to planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_1.svg diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_2.svg b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_2.svg similarity index 100% rename from planning/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_2.svg rename to planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/images/avoidance_by_lc_trigger_2.svg diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml similarity index 100% rename from planning/autoware_behavior_path_avoidance_by_lane_change_module/package.xml rename to planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/plugins.xml b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/plugins.xml similarity index 100% rename from planning/autoware_behavior_path_avoidance_by_lane_change_module/plugins.xml rename to planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/plugins.xml diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/data_structs.hpp similarity index 100% rename from planning/autoware_behavior_path_avoidance_by_lane_change_module/src/data_structs.hpp rename to planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/data_structs.hpp diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp similarity index 100% rename from planning/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp rename to planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp similarity index 100% rename from planning/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp rename to planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp similarity index 100% rename from planning/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp rename to planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.hpp similarity index 100% rename from planning/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.hpp rename to planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.hpp diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp similarity index 100% rename from planning/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp rename to planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.hpp similarity index 100% rename from planning/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.hpp rename to planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.hpp diff --git a/planning/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp similarity index 100% rename from planning/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp rename to planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CMakeLists.txt similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/CMakeLists.txt rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/CMakeLists.txt diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/config/dynamic_obstacle_avoidance.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/config/dynamic_obstacle_avoidance.param.yaml similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/config/dynamic_obstacle_avoidance.param.yaml rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/config/dynamic_obstacle_avoidance.param.yaml diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/2024-04-18_15-13-01.png b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/2024-04-18_15-13-01.png similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/2024-04-18_15-13-01.png rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/2024-04-18_15-13-01.png diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/2024-04-18_15-32-03.png b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/2024-04-18_15-32-03.png similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/2024-04-18_15-32-03.png rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/2024-04-18_15-32-03.png diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/drivable_area_extraction_width.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/drivable_area_extraction_width.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/drivable_area_extraction_width.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/drivable_area_extraction_width.drawio.svg diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230807-151945.png b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230807-151945.png similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230807-151945.png rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230807-151945.png diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230807-152835.png b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230807-152835.png similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230807-152835.png rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230807-152835.png diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230808-095936.png b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230808-095936.png similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230808-095936.png rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230808-095936.png diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230808-152853.png b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230808-152853.png similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230808-152853.png rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230808-152853.png diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/opposite_directional_object.svg b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/opposite_directional_object.svg similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/opposite_directional_object.svg rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/opposite_directional_object.svg diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/same_directional_object.svg b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/same_directional_object.svg similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/same_directional_object.svg rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/same_directional_object.svg diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/plugins.xml b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/plugins.xml similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/plugins.xml rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/plugins.xml diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/manager.cpp similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/manager.cpp rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/manager.cpp diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp similarity index 100% rename from planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp rename to planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CMakeLists.txt similarity index 100% rename from planning/autoware_behavior_path_external_request_lane_change_module/CMakeLists.txt rename to planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/CMakeLists.txt diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml similarity index 100% rename from planning/autoware_behavior_path_external_request_lane_change_module/package.xml rename to planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/plugins.xml b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/plugins.xml similarity index 100% rename from planning/autoware_behavior_path_external_request_lane_change_module/plugins.xml rename to planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/plugins.xml diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp similarity index 100% rename from planning/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp rename to planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp similarity index 100% rename from planning/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp rename to planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/scene.cpp similarity index 100% rename from planning/autoware_behavior_path_external_request_lane_change_module/src/scene.cpp rename to planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/scene.cpp diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/src/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/scene.hpp similarity index 100% rename from planning/autoware_behavior_path_external_request_lane_change_module/src/scene.hpp rename to planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/scene.hpp diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp similarity index 100% rename from planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp rename to planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp diff --git a/planning/autoware_behavior_path_goal_planner_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/CMakeLists.txt rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt diff --git a/planning/autoware_behavior_path_goal_planner_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/README.md similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/README.md rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/README.md diff --git a/planning/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml diff --git a/planning/autoware_behavior_path_goal_planner_module/images/arc_backward_parking.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/arc_backward_parking.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/images/arc_backward_parking.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/arc_backward_parking.drawio.svg diff --git a/planning/autoware_behavior_path_goal_planner_module/images/arc_forward_parking.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/arc_forward_parking.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/images/arc_forward_parking.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/arc_forward_parking.drawio.svg diff --git a/planning/autoware_behavior_path_goal_planner_module/images/goal_planner-collision_check_margin.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-collision_check_margin.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/images/goal_planner-collision_check_margin.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-collision_check_margin.drawio.svg diff --git a/planning/autoware_behavior_path_goal_planner_module/images/goal_planner-deciding_path.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-deciding_path.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/images/goal_planner-deciding_path.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-deciding_path.drawio.svg diff --git a/planning/autoware_behavior_path_goal_planner_module/images/goal_planner-goal_candidates.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-goal_candidates.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/images/goal_planner-goal_candidates.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-goal_candidates.drawio.svg diff --git a/planning/autoware_behavior_path_goal_planner_module/images/goal_planner-goal_distance.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-goal_distance.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/images/goal_planner-goal_distance.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-goal_distance.drawio.svg diff --git a/planning/autoware_behavior_path_goal_planner_module/images/goal_planner-is_safe.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-is_safe.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/images/goal_planner-is_safe.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-is_safe.drawio.svg diff --git a/planning/autoware_behavior_path_goal_planner_module/images/goal_planner-longitudinal_margin.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-longitudinal_margin.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/images/goal_planner-longitudinal_margin.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-longitudinal_margin.drawio.svg diff --git a/planning/autoware_behavior_path_goal_planner_module/images/goal_planner-object_to_avoid.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-object_to_avoid.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/images/goal_planner-object_to_avoid.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-object_to_avoid.drawio.svg diff --git a/planning/autoware_behavior_path_goal_planner_module/images/goal_planner-refined_goal.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-refined_goal.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/images/goal_planner-refined_goal.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-refined_goal.drawio.svg diff --git a/planning/autoware_behavior_path_goal_planner_module/images/goal_planner-safety_check.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-safety_check.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/images/goal_planner-safety_check.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-safety_check.drawio.svg diff --git a/planning/autoware_behavior_path_goal_planner_module/images/goal_planner-threads.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-threads.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/images/goal_planner-threads.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_planner-threads.drawio.svg diff --git a/planning/autoware_behavior_path_goal_planner_module/images/goal_priority_object_to_avoid_rviz.png b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_priority_object_to_avoid_rviz.png similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/images/goal_priority_object_to_avoid_rviz.png rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_priority_object_to_avoid_rviz.png diff --git a/planning/autoware_behavior_path_goal_planner_module/images/goal_priority_rviz.png b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_priority_rviz.png similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/images/goal_priority_rviz.png rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_priority_rviz.png diff --git a/planning/autoware_behavior_path_goal_planner_module/images/goal_priority_with_goal.png b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_priority_with_goal.png similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/images/goal_priority_with_goal.png rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/goal_priority_with_goal.png diff --git a/planning/autoware_behavior_path_goal_planner_module/images/path_goal_refinement.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/path_goal_refinement.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/images/path_goal_refinement.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/path_goal_refinement.drawio.svg diff --git a/planning/autoware_behavior_path_goal_planner_module/images/pull_over_freespace_parking_flowchart.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/pull_over_freespace_parking_flowchart.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/images/pull_over_freespace_parking_flowchart.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/pull_over_freespace_parking_flowchart.drawio.svg diff --git a/planning/autoware_behavior_path_goal_planner_module/images/shift_parking.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/shift_parking.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/images/shift_parking.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/images/shift_parking.drawio.svg diff --git a/planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/default_fixed_goal_planner.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/default_fixed_goal_planner.hpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/default_fixed_goal_planner.hpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/default_fixed_goal_planner.hpp diff --git a/planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/fixed_goal_planner_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/fixed_goal_planner_base.hpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/fixed_goal_planner_base.hpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/fixed_goal_planner_base.hpp diff --git a/planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/freespace_pull_over.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/freespace_pull_over.hpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/freespace_pull_over.hpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/freespace_pull_over.hpp diff --git a/planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/geometric_pull_over.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/geometric_pull_over.hpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/geometric_pull_over.hpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/geometric_pull_over.hpp diff --git a/planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp diff --git a/planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp diff --git a/planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp diff --git a/planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp diff --git a/planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/manager.hpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/manager.hpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/manager.hpp diff --git a/planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp diff --git a/planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/shift_pull_over.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/shift_pull_over.hpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/shift_pull_over.hpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/shift_pull_over.hpp diff --git a/planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp diff --git a/planning/autoware_behavior_path_goal_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/package.xml rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml diff --git a/planning/autoware_behavior_path_goal_planner_module/plugins.xml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/plugins.xml similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/plugins.xml rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/plugins.xml diff --git a/planning/autoware_behavior_path_goal_planner_module/src/default_fixed_goal_planner.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/default_fixed_goal_planner.cpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/src/default_fixed_goal_planner.cpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/default_fixed_goal_planner.cpp diff --git a/planning/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp diff --git a/planning/autoware_behavior_path_goal_planner_module/src/geometric_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/geometric_pull_over.cpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/src/geometric_pull_over.cpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/geometric_pull_over.cpp diff --git a/planning/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp diff --git a/planning/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp diff --git a/planning/autoware_behavior_path_goal_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/src/manager.cpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp diff --git a/planning/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp diff --git a/planning/autoware_behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp similarity index 100% rename from planning/autoware_behavior_path_goal_planner_module/src/util.cpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp diff --git a/planning/autoware_behavior_path_lane_change_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CMakeLists.txt similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/CMakeLists.txt rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/CMakeLists.txt diff --git a/planning/autoware_behavior_path_lane_change_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/README.md rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md diff --git a/planning/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/config/lane_change.param.yaml diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change-abort.png b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-abort.png similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change-abort.png rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-abort.png diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change-cancel.png b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-cancel.png similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change-cancel.png rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-cancel.png diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change-candidate_path_samples.png b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-candidate_path_samples.png similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change-candidate_path_samples.png rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-candidate_path_samples.png diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change-cant_cancel_no_abort.png b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-cant_cancel_no_abort.png similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change-cant_cancel_no_abort.png rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-cant_cancel_no_abort.png diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change-debug-1.png b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-debug-1.png similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change-debug-1.png rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-debug-1.png diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change-debug-2.png b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-debug-2.png similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change-debug-2.png rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-debug-2.png diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change-debug-3.png b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-debug-3.png similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change-debug-3.png rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-debug-3.png diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change-enable_collision_check_at_prepare_phase.png b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-enable_collision_check_at_prepare_phase.png similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change-enable_collision_check_at_prepare_phase.png rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-enable_collision_check_at_prepare_phase.png diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change-intersection_case.png b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-intersection_case.png similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change-intersection_case.png rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-intersection_case.png diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change-lane_change_phases.png b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-lane_change_phases.png similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change-lane_change_phases.png rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-lane_change_phases.png diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change-lane_expansion-with.png b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-lane_expansion-with.png similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change-lane_expansion-with.png rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-lane_expansion-with.png diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change-lane_expansion-without.png b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-lane_expansion-without.png similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change-lane_expansion-without.png rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-lane_expansion-without.png diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change-stop_at_terminal.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-stop_at_terminal.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change-stop_at_terminal.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-stop_at_terminal.drawio.svg diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change-stop_at_terminal_no_block.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-stop_at_terminal_no_block.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change-stop_at_terminal_no_block.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-stop_at_terminal_no_block.drawio.svg diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change-stop_far_from_target_lane.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-stop_far_from_target_lane.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change-stop_far_from_target_lane.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-stop_far_from_target_lane.drawio.svg diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change-stop_not_at_terminal.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-stop_not_at_terminal.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change-stop_not_at_terminal.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-stop_not_at_terminal.drawio.svg diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change-stop_not_at_terminal_no_blocking_object.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-stop_not_at_terminal_no_blocking_object.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change-stop_not_at_terminal_no_blocking_object.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-stop_not_at_terminal_no_blocking_object.drawio.svg diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change-when_cannot_change_lanes.png b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-when_cannot_change_lanes.png similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change-when_cannot_change_lanes.png rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-when_cannot_change_lanes.png diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_change.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_change.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change.drawio.svg diff --git a/planning/autoware_behavior_path_lane_change_module/images/lane_objects.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_objects.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/images/lane_objects.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_objects.drawio.svg diff --git a/planning/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp diff --git a/planning/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/manager.hpp diff --git a/planning/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp diff --git a/planning/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp diff --git a/planning/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/data_structs.hpp diff --git a/planning/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/debug_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/debug_structs.hpp similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/debug_structs.hpp rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/debug_structs.hpp diff --git a/planning/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/markers.hpp diff --git a/planning/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/path.hpp diff --git a/planning/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp diff --git a/planning/autoware_behavior_path_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/package.xml rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml diff --git a/planning/autoware_behavior_path_lane_change_module/plugins.xml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/plugins.xml similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/plugins.xml rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/plugins.xml diff --git a/planning/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/src/interface.cpp rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp diff --git a/planning/autoware_behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/src/manager.cpp rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp diff --git a/planning/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/src/scene.cpp rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp diff --git a/planning/autoware_behavior_path_lane_change_module/src/utils/markers.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/src/utils/markers.cpp rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp diff --git a/planning/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/src/utils/utils.cpp rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp diff --git a/planning/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp diff --git a/planning/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp similarity index 100% rename from planning/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp rename to planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp diff --git a/planning/autoware_behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_planner/CMakeLists.txt similarity index 100% rename from planning/autoware_behavior_path_planner/CMakeLists.txt rename to planning/behavior_path_planner/autoware_behavior_path_planner/CMakeLists.txt diff --git a/planning/autoware_behavior_path_planner/README.md b/planning/behavior_path_planner/autoware_behavior_path_planner/README.md similarity index 100% rename from planning/autoware_behavior_path_planner/README.md rename to planning/behavior_path_planner/autoware_behavior_path_planner/README.md diff --git a/planning/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml similarity index 100% rename from planning/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml rename to planning/behavior_path_planner/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml diff --git a/planning/autoware_behavior_path_planner/config/drivable_area_expansion.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_planner/config/drivable_area_expansion.param.yaml similarity index 100% rename from planning/autoware_behavior_path_planner/config/drivable_area_expansion.param.yaml rename to planning/behavior_path_planner/autoware_behavior_path_planner/config/drivable_area_expansion.param.yaml diff --git a/planning/autoware_behavior_path_planner/config/scene_module_manager.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_planner/config/scene_module_manager.param.yaml similarity index 100% rename from planning/autoware_behavior_path_planner/config/scene_module_manager.param.yaml rename to planning/behavior_path_planner/autoware_behavior_path_planner/config/scene_module_manager.param.yaml diff --git a/planning/autoware_behavior_path_planner/docs/behavior_path_planner_interface_design.md b/planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_interface_design.md similarity index 100% rename from planning/autoware_behavior_path_planner/docs/behavior_path_planner_interface_design.md rename to planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_interface_design.md diff --git a/planning/autoware_behavior_path_planner/docs/behavior_path_planner_limitations.md b/planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_limitations.md similarity index 100% rename from planning/autoware_behavior_path_planner/docs/behavior_path_planner_limitations.md rename to planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_limitations.md diff --git a/planning/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md b/planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md similarity index 100% rename from planning/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md rename to planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md diff --git a/planning/autoware_behavior_path_planner/image/checking_module_transition.png b/planning/behavior_path_planner/autoware_behavior_path_planner/image/checking_module_transition.png similarity index 100% rename from planning/autoware_behavior_path_planner/image/checking_module_transition.png rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/checking_module_transition.png diff --git a/planning/autoware_behavior_path_planner/image/limitations/limitation-chattering_shifts.png b/planning/behavior_path_planner/autoware_behavior_path_planner/image/limitations/limitation-chattering_shifts.png similarity index 100% rename from planning/autoware_behavior_path_planner/image/limitations/limitation-chattering_shifts.png rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/limitations/limitation-chattering_shifts.png diff --git a/planning/autoware_behavior_path_planner/image/limitations/limitation-corner.png b/planning/behavior_path_planner/autoware_behavior_path_planner/image/limitations/limitation-corner.png similarity index 100% rename from planning/autoware_behavior_path_planner/image/limitations/limitation-corner.png rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/limitations/limitation-corner.png diff --git a/planning/autoware_behavior_path_planner/image/limitations/limitation-intersection.png b/planning/behavior_path_planner/autoware_behavior_path_planner/image/limitations/limitation-intersection.png similarity index 100% rename from planning/autoware_behavior_path_planner/image/limitations/limitation-intersection.png rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/limitations/limitation-intersection.png diff --git a/planning/autoware_behavior_path_planner/image/limitations/limitation01-01.png b/planning/behavior_path_planner/autoware_behavior_path_planner/image/limitations/limitation01-01.png similarity index 100% rename from planning/autoware_behavior_path_planner/image/limitations/limitation01-01.png rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/limitations/limitation01-01.png diff --git a/planning/autoware_behavior_path_planner/image/limitations/limitation01-02-not-work.png b/planning/behavior_path_planner/autoware_behavior_path_planner/image/limitations/limitation01-02-not-work.png similarity index 100% rename from planning/autoware_behavior_path_planner/image/limitations/limitation01-02-not-work.png rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/limitations/limitation01-02-not-work.png diff --git a/planning/autoware_behavior_path_planner/image/limitations/limitation01-03-not-equal-length.png b/planning/behavior_path_planner/autoware_behavior_path_planner/image/limitations/limitation01-03-not-equal-length.png similarity index 100% rename from planning/autoware_behavior_path_planner/image/limitations/limitation01-03-not-equal-length.png rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/limitations/limitation01-03-not-equal-length.png diff --git a/planning/autoware_behavior_path_planner/image/limitations/limitation01-04-equal-length.png b/planning/behavior_path_planner/autoware_behavior_path_planner/image/limitations/limitation01-04-equal-length.png similarity index 100% rename from planning/autoware_behavior_path_planner/image/limitations/limitation01-04-equal-length.png rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/limitations/limitation01-04-equal-length.png diff --git a/planning/autoware_behavior_path_planner/image/limitations/limitation01-04-not-equal.png b/planning/behavior_path_planner/autoware_behavior_path_planner/image/limitations/limitation01-04-not-equal.png similarity index 100% rename from planning/autoware_behavior_path_planner/image/limitations/limitation01-04-not-equal.png rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/limitations/limitation01-04-not-equal.png diff --git a/planning/autoware_behavior_path_planner/image/manager/approved_modules_stack.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/approved_modules_stack.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/approved_modules_stack.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/approved_modules_stack.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/avoidance.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/avoidance.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/avoidance.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/avoidance.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/candidate_modules_stack.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/candidate_modules_stack.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/candidate_modules_stack.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/candidate_modules_stack.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/current_route_lanelet.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/current_route_lanelet.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/current_route_lanelet.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/current_route_lanelet.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/example_behavior.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/example_behavior.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/example_behavior.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/example_behavior.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/failure_modules.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/failure_modules.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/failure_modules.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/failure_modules.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/lane_change.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/lane_change.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/lane_change.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/lane_change.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/lane_change_remove.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/lane_change_remove.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/lane_change_remove.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/lane_change_remove.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/lane_change_skip.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/lane_change_skip.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/lane_change_skip.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/lane_change_skip.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/manager_overview.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/manager_overview.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/manager_overview.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/manager_overview.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/module_select.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/module_select.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/module_select.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/module_select.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/multiple_candidates.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/multiple_candidates.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/multiple_candidates.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/multiple_candidates.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/output_module.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/output_module.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/output_module.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/output_module.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/process_step1.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/process_step1.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/process_step1.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/process_step1.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/process_step2.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/process_step2.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/process_step2.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/process_step2.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/process_step4.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/process_step4.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/process_step4.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/process_step4.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/process_step5.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/process_step5.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/process_step5.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/process_step5.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/process_step6.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/process_step6.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/process_step6.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/process_step6.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/request_step1.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/request_step1.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/request_step1.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/request_step1.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/request_step2-2.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/request_step2-2.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/request_step2-2.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/request_step2-2.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/request_step2-3.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/request_step2-3.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/request_step2-3.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/request_step2-3.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/request_step2.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/request_step2.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/request_step2.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/request_step2.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/request_step3.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/request_step3.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/request_step3.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/request_step3.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/request_step4-2.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/request_step4-2.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/request_step4-2.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/request_step4-2.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/request_step4-3.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/request_step4-3.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/request_step4-3.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/request_step4-3.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/request_step4.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/request_step4.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/request_step4.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/request_step4.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/request_step5.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/request_step5.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/request_step5.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/request_step5.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/root_generation.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/root_generation.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/root_generation.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/root_generation.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/scene_module.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/scene_module.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/scene_module.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/scene_module.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/sub_managers.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/sub_managers.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/sub_managers.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/sub_managers.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/success_modules_remove.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/success_modules_remove.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/success_modules_remove.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/success_modules_remove.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/success_modules_skip.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/success_modules_skip.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/success_modules_skip.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/success_modules_skip.svg diff --git a/planning/autoware_behavior_path_planner/image/manager/waiting_approve.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/waiting_approve.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/manager/waiting_approve.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/manager/waiting_approve.svg diff --git a/planning/autoware_behavior_path_planner/image/static_drivable_area_after_expansion.png b/planning/behavior_path_planner/autoware_behavior_path_planner/image/static_drivable_area_after_expansion.png similarity index 100% rename from planning/autoware_behavior_path_planner/image/static_drivable_area_after_expansion.png rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/static_drivable_area_after_expansion.png diff --git a/planning/autoware_behavior_path_planner/image/static_drivable_area_before_expansion.png b/planning/behavior_path_planner/autoware_behavior_path_planner/image/static_drivable_area_before_expansion.png similarity index 100% rename from planning/autoware_behavior_path_planner/image/static_drivable_area_before_expansion.png rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/static_drivable_area_before_expansion.png diff --git a/planning/autoware_behavior_path_planner/image/supported_module_avoidance.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/supported_module_avoidance.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/supported_module_avoidance.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/supported_module_avoidance.svg diff --git a/planning/autoware_behavior_path_planner/image/supported_module_avoidance_by_lane_change.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/supported_module_avoidance_by_lane_change.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/supported_module_avoidance_by_lane_change.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/supported_module_avoidance_by_lane_change.svg diff --git a/planning/autoware_behavior_path_planner/image/supported_module_goal_planner.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/supported_module_goal_planner.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/supported_module_goal_planner.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/supported_module_goal_planner.svg diff --git a/planning/autoware_behavior_path_planner/image/supported_module_lane_change.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/supported_module_lane_change.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/supported_module_lane_change.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/supported_module_lane_change.svg diff --git a/planning/autoware_behavior_path_planner/image/supported_module_lane_following.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/supported_module_lane_following.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/supported_module_lane_following.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/supported_module_lane_following.svg diff --git a/planning/autoware_behavior_path_planner/image/supported_module_start_planner.svg b/planning/behavior_path_planner/autoware_behavior_path_planner/image/supported_module_start_planner.svg similarity index 100% rename from planning/autoware_behavior_path_planner/image/supported_module_start_planner.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner/image/supported_module_start_planner.svg diff --git a/planning/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp similarity index 100% rename from planning/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp diff --git a/planning/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp similarity index 100% rename from planning/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp diff --git a/planning/autoware_behavior_path_planner/launch/behavior_path_planner.launch.xml b/planning/behavior_path_planner/autoware_behavior_path_planner/launch/behavior_path_planner.launch.xml similarity index 100% rename from planning/autoware_behavior_path_planner/launch/behavior_path_planner.launch.xml rename to planning/behavior_path_planner/autoware_behavior_path_planner/launch/behavior_path_planner.launch.xml diff --git a/planning/autoware_behavior_path_planner/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml similarity index 100% rename from planning/autoware_behavior_path_planner/package.xml rename to planning/behavior_path_planner/autoware_behavior_path_planner/package.xml diff --git a/planning/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp similarity index 100% rename from planning/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp diff --git a/planning/autoware_behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp similarity index 100% rename from planning/autoware_behavior_path_planner/src/planner_manager.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp diff --git a/planning/autoware_behavior_path_planner/test/input.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/test/input.cpp similarity index 100% rename from planning/autoware_behavior_path_planner/test/input.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner/test/input.cpp diff --git a/planning/autoware_behavior_path_planner/test/input.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/test/input.hpp similarity index 100% rename from planning/autoware_behavior_path_planner/test/input.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner/test/input.hpp diff --git a/planning/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp similarity index 100% rename from planning/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner/test/test_autoware_behavior_path_planner_node_interface.cpp diff --git a/planning/autoware_behavior_path_planner/test/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/test/test_utils.cpp similarity index 100% rename from planning/autoware_behavior_path_planner/test/test_utils.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner/test/test_utils.cpp diff --git a/planning/autoware_behavior_path_planner_common/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt similarity index 100% rename from planning/autoware_behavior_path_planner_common/CMakeLists.txt rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt diff --git a/planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design.md b/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design.md similarity index 100% rename from planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design.md rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design.md diff --git a/planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_path_generation_design.md b/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_path_generation_design.md similarity index 100% rename from planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_path_generation_design.md rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_path_generation_design.md diff --git a/planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_safety_check.md b/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_safety_check.md similarity index 100% rename from planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_safety_check.md rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_safety_check.md diff --git a/planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_turn_signal_design.md b/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_turn_signal_design.md similarity index 100% rename from planning/autoware_behavior_path_planner_common/docs/behavior_path_planner_turn_signal_design.md rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_turn_signal_design.md diff --git a/planning/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-ExpDistances.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-ExpDistances.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-ExpDistances.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-ExpDistances.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-Expansion.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-Expansion.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-Expansion.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-Expansion.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-Expansion_Input.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-Expansion_Input.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-Expansion_Input.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-Expansion_Input.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-MaxWidth.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-MaxWidth.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-MaxWidth.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-MaxWidth.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-MinWidth.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-MinWidth.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-MinWidth.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-MinWidth.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-Result.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-Result.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-Result.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/DynamicDrivableArea-Result.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/drivable_area/drivable_area_boundary_marker_example1.png b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/drivable_area_boundary_marker_example1.png similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/drivable_area/drivable_area_boundary_marker_example1.png rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/drivable_area_boundary_marker_example1.png diff --git a/planning/autoware_behavior_path_planner_common/images/drivable_area/drivable_area_boundary_marker_example2.png b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/drivable_area_boundary_marker_example2.png similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/drivable_area/drivable_area_boundary_marker_example2.png rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/drivable_area_boundary_marker_example2.png diff --git a/planning/autoware_behavior_path_planner_common/images/drivable_area/drivable_lines.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/drivable_lines.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/drivable_area/drivable_lines.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/drivable_lines.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/drivable_area/dynamic_expansion_off.png b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/dynamic_expansion_off.png similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/drivable_area/dynamic_expansion_off.png rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/dynamic_expansion_off.png diff --git a/planning/autoware_behavior_path_planner_common/images/drivable_area/dynamic_expansion_on.png b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/dynamic_expansion_on.png similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/drivable_area/dynamic_expansion_on.png rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/dynamic_expansion_on.png diff --git a/planning/autoware_behavior_path_planner_common/images/drivable_area/expanded_lanes.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/expanded_lanes.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/drivable_area/expanded_lanes.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/expanded_lanes.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/drivable_area/hatched_road_markings_drivable_area_expansion.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/hatched_road_markings_drivable_area_expansion.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/drivable_area/hatched_road_markings_drivable_area_expansion.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/hatched_road_markings_drivable_area_expansion.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/drivable_area/sorted_lanes.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/sorted_lanes.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/drivable_area/sorted_lanes.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/drivable_area/sorted_lanes.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/path_safety_checker/extended_polygons.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/path_safety_checker/extended_polygons.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/path_safety_checker/extended_polygons.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/path_safety_checker/extended_polygons.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/path_safety_checker/front_object.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/path_safety_checker/front_object.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/path_safety_checker/front_object.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/path_safety_checker/front_object.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/path_safety_checker/safety_check_flow.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/path_safety_checker/safety_check_flow.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/path_safety_checker/safety_check_flow.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/path_safety_checker/safety_check_flow.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/path_shifter/path_shifter.png b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/path_shifter/path_shifter.png similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/path_shifter/path_shifter.png rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/path_shifter/path_shifter.png diff --git a/planning/autoware_behavior_path_planner_common/images/turn_signal_decider/activation_distance.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/activation_distance.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/turn_signal_decider/activation_distance.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/activation_distance.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_and_turn.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_and_turn.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_and_turn.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_and_turn.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_and_turn2.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_and_turn2.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_and_turn2.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_and_turn2.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_first_section.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_first_section.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_first_section.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_first_section.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_second_section.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_second_section.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_second_section.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/avoidance_second_section.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/turn_signal_decider/continuous_turns.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/continuous_turns.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/turn_signal_decider/continuous_turns.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/continuous_turns.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/turn_signal_decider/lane_change.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/lane_change.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/turn_signal_decider/lane_change.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/lane_change.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/turn_signal_decider/lane_change_and_turn.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/lane_change_and_turn.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/turn_signal_decider/lane_change_and_turn.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/lane_change_and_turn.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/turn_signal_decider/left_right_turn.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/left_right_turn.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/turn_signal_decider/left_right_turn.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/left_right_turn.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern1.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern1.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern1.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern1.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern2.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern2.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern2.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern2.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern3.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern3.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern3.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern3.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern4.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern4.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern4.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern4.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern5.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern5.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern5.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/pattern5.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/turn_signal_decider/pull_out.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/pull_out.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/turn_signal_decider/pull_out.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/pull_out.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/turn_signal_decider/pull_over.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/pull_over.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/turn_signal_decider/pull_over.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/pull_over.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/images/turn_signal_decider/sections_definition.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/sections_definition.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_planner_common/images/turn_signal_decider/sections_definition.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/images/turn_signal_decider/sections_definition.drawio.svg diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_visitor.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_visitor.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/marker_utils/colors.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/marker_utils/colors.hpp similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/marker_utils/colors.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/marker_utils/colors.hpp diff --git a/planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/marker_utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/marker_utils/utils.hpp similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/marker_utils/utils.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/marker_utils/utils.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/parameters.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/parameters.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/turn_signal_decider.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/turn_signal_decider.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/drivable_area_expansion.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/drivable_area_expansion.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/footprints.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/footprints.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/map_utils.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/map_utils.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp rename to 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 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/common_module_data.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/common_module_data.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_utils.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_utils.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/traffic_light_utils.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/traffic_light_utils.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp diff --git a/planning/autoware_behavior_path_planner_common/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml similarity index 100% rename from planning/autoware_behavior_path_planner_common/package.xml rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/src/interface/scene_module_visitor.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_visitor.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/src/interface/steering_factor_interface.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/steering_factor_interface.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/src/turn_signal_decider.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/src/turn_signal_decider.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/map_utils.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/map_utils.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/src/utils/path_utils.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/src/utils/utils.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_drivable_area_expansion.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/test/test_safety_check.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_safety_check.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_planner_common/test/test_turn_signal.cpp rename to planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_turn_signal.cpp 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 similarity index 100% rename from planning/autoware_behavior_path_sampling_planner_module/CMakeLists.txt rename to planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/CMakeLists.txt 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 similarity index 100% rename from planning/autoware_behavior_path_sampling_planner_module/README.md rename to planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/README.md diff --git a/planning/autoware_behavior_path_sampling_planner_module/config/sampling_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/config/sampling_planner.param.yaml similarity index 100% rename from planning/autoware_behavior_path_sampling_planner_module/config/sampling_planner.param.yaml rename to planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/config/sampling_planner.param.yaml 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 similarity index 100% rename from planning/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp rename to planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp rename to planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_parameters.hpp rename to planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_parameters.hpp 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 similarity index 100% rename from planning/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/util.hpp rename to planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/util.hpp diff --git a/planning/autoware_behavior_path_sampling_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml similarity index 100% rename from planning/autoware_behavior_path_sampling_planner_module/package.xml rename to planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml diff --git a/planning/autoware_behavior_path_sampling_planner_module/plugins.xml b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/plugins.xml similarity index 100% rename from planning/autoware_behavior_path_sampling_planner_module/plugins.xml rename to planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/plugins.xml diff --git a/planning/autoware_behavior_path_sampling_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/manager.cpp similarity index 100% rename from planning/autoware_behavior_path_sampling_planner_module/src/manager.cpp rename to planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/manager.cpp diff --git a/planning/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp similarity index 100% rename from planning/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp rename to planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp diff --git a/planning/autoware_behavior_path_side_shift_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CMakeLists.txt similarity index 100% rename from planning/autoware_behavior_path_side_shift_module/CMakeLists.txt rename to planning/behavior_path_planner/autoware_behavior_path_side_shift_module/CMakeLists.txt diff --git a/planning/autoware_behavior_path_side_shift_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/README.md similarity index 100% rename from planning/autoware_behavior_path_side_shift_module/README.md rename to planning/behavior_path_planner/autoware_behavior_path_side_shift_module/README.md diff --git a/planning/autoware_behavior_path_side_shift_module/config/side_shift.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/config/side_shift.param.yaml similarity index 100% rename from planning/autoware_behavior_path_side_shift_module/config/side_shift.param.yaml rename to planning/behavior_path_planner/autoware_behavior_path_side_shift_module/config/side_shift.param.yaml diff --git a/planning/autoware_behavior_path_side_shift_module/images/side_shift_status.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/images/side_shift_status.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_side_shift_module/images/side_shift_status.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_side_shift_module/images/side_shift_status.drawio.svg diff --git a/planning/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/data_structs.hpp similarity index 100% rename from planning/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/data_structs.hpp rename to planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/data_structs.hpp diff --git a/planning/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp similarity index 100% rename from planning/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp rename to planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp diff --git a/planning/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp similarity index 100% rename from planning/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp rename to planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp diff --git a/planning/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/utils.hpp similarity index 100% rename from planning/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/utils.hpp rename to planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/utils.hpp diff --git a/planning/autoware_behavior_path_side_shift_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml similarity index 100% rename from planning/autoware_behavior_path_side_shift_module/package.xml rename to planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml diff --git a/planning/autoware_behavior_path_side_shift_module/plugins.xml b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/plugins.xml similarity index 100% rename from planning/autoware_behavior_path_side_shift_module/plugins.xml rename to planning/behavior_path_planner/autoware_behavior_path_side_shift_module/plugins.xml diff --git a/planning/autoware_behavior_path_side_shift_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/manager.cpp similarity index 100% rename from planning/autoware_behavior_path_side_shift_module/src/manager.cpp rename to planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/manager.cpp diff --git a/planning/autoware_behavior_path_side_shift_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp similarity index 100% rename from planning/autoware_behavior_path_side_shift_module/src/scene.cpp rename to planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp diff --git a/planning/autoware_behavior_path_side_shift_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/utils.cpp similarity index 100% rename from planning/autoware_behavior_path_side_shift_module/src/utils.cpp rename to planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/utils.cpp diff --git a/planning/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp similarity index 100% rename from planning/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp rename to planning/behavior_path_planner/autoware_behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp diff --git a/planning/autoware_behavior_path_start_planner_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CMakeLists.txt similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/CMakeLists.txt rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CMakeLists.txt diff --git a/planning/autoware_behavior_path_start_planner_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/README.md similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/README.md rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/README.md diff --git a/planning/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml diff --git a/planning/autoware_behavior_path_start_planner_module/images/collision_check_range_shift_pull_out.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/collision_check_range_shift_pull_out.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/images/collision_check_range_shift_pull_out.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/collision_check_range_shift_pull_out.drawio.svg diff --git a/planning/autoware_behavior_path_start_planner_module/images/freespace_pull_out.png b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/freespace_pull_out.png similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/images/freespace_pull_out.png rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/freespace_pull_out.png diff --git a/planning/autoware_behavior_path_start_planner_module/images/geometric_pull_out.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/geometric_pull_out.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/images/geometric_pull_out.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/geometric_pull_out.drawio.svg diff --git a/planning/autoware_behavior_path_start_planner_module/images/geometric_pull_out_path.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/geometric_pull_out_path.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/images/geometric_pull_out_path.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/geometric_pull_out_path.drawio.svg diff --git a/planning/autoware_behavior_path_start_planner_module/images/geometric_pull_out_path_with_back.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/geometric_pull_out_path_with_back.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/images/geometric_pull_out_path_with_back.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/geometric_pull_out_path_with_back.drawio.svg diff --git a/planning/autoware_behavior_path_start_planner_module/images/priority_order.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/priority_order.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/images/priority_order.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/priority_order.drawio.svg diff --git a/planning/autoware_behavior_path_start_planner_module/images/pull_out_after_back.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/pull_out_after_back.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/images/pull_out_after_back.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/pull_out_after_back.drawio.svg diff --git a/planning/autoware_behavior_path_start_planner_module/images/pull_out_collision_check.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/pull_out_collision_check.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/images/pull_out_collision_check.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/pull_out_collision_check.drawio.svg diff --git a/planning/autoware_behavior_path_start_planner_module/images/shift_pull_out.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/shift_pull_out.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/images/shift_pull_out.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/shift_pull_out.drawio.svg diff --git a/planning/autoware_behavior_path_start_planner_module/images/shift_pull_out_path.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/shift_pull_out_path.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/images/shift_pull_out_path.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/shift_pull_out_path.drawio.svg diff --git a/planning/autoware_behavior_path_start_planner_module/images/shift_pull_out_path_from_road_lane.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/shift_pull_out_path_from_road_lane.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/images/shift_pull_out_path_from_road_lane.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/shift_pull_out_path_from_road_lane.drawio.svg diff --git a/planning/autoware_behavior_path_start_planner_module/images/shift_pull_out_path_with_back.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/shift_pull_out_path_with_back.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/images/shift_pull_out_path_with_back.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/shift_pull_out_path_with_back.drawio.svg diff --git a/planning/autoware_behavior_path_start_planner_module/images/start_planner_example.png b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/start_planner_example.png similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/images/start_planner_example.png rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/start_planner_example.png diff --git a/planning/autoware_behavior_path_start_planner_module/images/start_pose_candidate.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/start_pose_candidate.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/images/start_pose_candidate.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/images/start_pose_candidate.drawio.svg diff --git a/planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/data_structs.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/data_structs.hpp similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/data_structs.hpp rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/data_structs.hpp diff --git a/planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/debug.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/debug.hpp similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/debug.hpp rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/debug.hpp diff --git a/planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/freespace_pull_out.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/freespace_pull_out.hpp similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/freespace_pull_out.hpp rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/freespace_pull_out.hpp diff --git a/planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/geometric_pull_out.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/geometric_pull_out.hpp similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/geometric_pull_out.hpp rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/geometric_pull_out.hpp diff --git a/planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp diff --git a/planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_path.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_path.hpp similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_path.hpp rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_path.hpp diff --git a/planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp diff --git a/planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/shift_pull_out.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/shift_pull_out.hpp similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/shift_pull_out.hpp rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/shift_pull_out.hpp diff --git a/planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp diff --git a/planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/util.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/util.hpp similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/util.hpp rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/util.hpp diff --git a/planning/autoware_behavior_path_start_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/package.xml rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml diff --git a/planning/autoware_behavior_path_start_planner_module/plugins.xml b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/plugins.xml similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/plugins.xml rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/plugins.xml diff --git a/planning/autoware_behavior_path_start_planner_module/src/debug.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/debug.cpp similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/src/debug.cpp rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/debug.cpp diff --git a/planning/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp diff --git a/planning/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp diff --git a/planning/autoware_behavior_path_start_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/manager.cpp similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/src/manager.cpp rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/manager.cpp diff --git a/planning/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp diff --git a/planning/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp diff --git a/planning/autoware_behavior_path_start_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/util.cpp similarity index 100% rename from planning/autoware_behavior_path_start_planner_module/src/util.cpp rename to planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/util.cpp diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CMakeLists.txt similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/CMakeLists.txt rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/CMakeLists.txt diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/README.md rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/config/static_obstacle_avoidance.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/config/static_obstacle_avoidance.param.yaml similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/config/static_obstacle_avoidance.param.yaml rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/config/static_obstacle_avoidance.param.yaml diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_freespace.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_freespace.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_freespace.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_freespace.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_intersection.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_intersection.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_intersection.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_intersection.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_opposite_direction.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_opposite_direction.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_opposite_direction.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_opposite_direction.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_same_direction.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_same_direction.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_same_direction.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_same_direction.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_zebra.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_zebra.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_zebra.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/advanced/avoidance_zebra.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/avoidance_debug_message_array.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/avoidance_debug_message_array.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/avoidance_debug_message_array.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/avoidance_debug_message_array.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/avoidance_design.fig.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/avoidance_design.fig.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/avoidance_design.fig.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/avoidance_design.fig.drawio.svg diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/cancel/cancel.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/cancel/cancel.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/cancel/cancel.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/cancel/cancel.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/debug/debug_marker_rviz.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/debug/debug_marker_rviz.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/debug/debug_marker_rviz.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/debug/debug_marker_rviz.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/how_to_decide_path_shape_multi_object_both_direction.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/how_to_decide_path_shape_multi_object_both_direction.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/how_to_decide_path_shape_multi_object_both_direction.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/how_to_decide_path_shape_multi_object_both_direction.drawio.svg diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/how_to_decide_path_shape_multi_object_one_direction.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/how_to_decide_path_shape_multi_object_one_direction.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/how_to_decide_path_shape_multi_object_one_direction.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/how_to_decide_path_shape_multi_object_one_direction.drawio.svg diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/how_to_decide_path_shape_one_object.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/how_to_decide_path_shape_one_object.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/how_to_decide_path_shape_one_object.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/how_to_decide_path_shape_one_object.drawio.svg diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/intersection_problem.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/intersection_problem.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/intersection_problem.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/intersection_problem.drawio.svg diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/envelope_polygon.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/envelope_polygon.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/envelope_polygon.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/envelope_polygon.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/envelope_polygon_rviz.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/envelope_polygon_rviz.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/envelope_polygon_rviz.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/envelope_polygon_rviz.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/lateral.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/lateral.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/lateral.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/lateral.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/margin.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/margin.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/margin.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/margin.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/opposite_direction.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/opposite_direction.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/opposite_direction.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/opposite_direction.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/polygon_update.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/polygon_update.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/polygon_update.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/polygon_update.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/same_direction.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/same_direction.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/same_direction.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/same_direction.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/shift_line.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/shift_line.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/shift_line.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/path_generation/shift_line.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/purpose/avoidance.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/purpose/avoidance.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/purpose/avoidance.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/purpose/avoidance.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/purpose/rviz.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/purpose/rviz.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/purpose/rviz.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/purpose/rviz.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/safety_check/not_stop.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/safety_check/not_stop.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/safety_check/not_stop.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/safety_check/not_stop.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/safety_check/safety_check_flow.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/safety_check/safety_check_flow.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/safety_check/safety_check_flow.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/safety_check/safety_check_flow.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/safety_check/stop.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/safety_check/stop.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/safety_check/stop.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/safety_check/stop.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/shift_length_parameters.drawio.svg b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/shift_length_parameters.drawio.svg similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/shift_length_parameters.drawio.svg rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/shift_length_parameters.drawio.svg diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/ambiguous_deviating.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/ambiguous_deviating.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/ambiguous_deviating.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/ambiguous_deviating.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/ambiguous_merging.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/ambiguous_merging.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/ambiguous_merging.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/ambiguous_merging.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/ambiguous_parallel.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/ambiguous_parallel.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/ambiguous_parallel.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/ambiguous_parallel.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/avoid_not_on_ego_lane.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/avoid_not_on_ego_lane.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/avoid_not_on_ego_lane.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/avoid_not_on_ego_lane.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/avoid_on_ego_lane.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/avoid_on_ego_lane.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/avoid_on_ego_lane.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/avoid_on_ego_lane.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/crosswalk.svg b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/crosswalk.svg similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/crosswalk.svg rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/crosswalk.svg diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/detection_area.svg b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/detection_area.svg similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/detection_area.svg rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/detection_area.svg diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/detection_area_rviz.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/detection_area_rviz.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/detection_area_rviz.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/detection_area_rviz.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/deviating.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/deviating.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/deviating.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/deviating.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/merging.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/merging.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/merging.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/merging.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_deviating.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_deviating.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_deviating.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_deviating.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_intersection.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_intersection.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_intersection.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_intersection.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_merging.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_merging.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_merging.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_merging.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_not_edge.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_not_edge.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_not_edge.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_not_edge.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_stop_factor.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_stop_factor.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_stop_factor.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/never_avoid_stop_factor.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/none.png b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/none.png similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/none.png rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/none.png diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/parked_vehicle.svg b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/parked_vehicle.svg similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/parked_vehicle.svg rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_filter/parked_vehicle.svg diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_vehicle_selection.svg b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_vehicle_selection.svg similarity index 100% rename from planning/autoware_behavior_path_static_obstacle_avoidance_module/images/target_vehicle_selection.svg rename to planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/images/target_vehicle_selection.svg 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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