diff --git a/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
index a230ce0..26eaa1b 100644
--- a/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
+++ b/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py
@@ -29,8 +29,8 @@ def launch_setup(context, *args, **kwargs):
 
     # set concat filter as a component
     concat_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
         name="concatenate_data",
         remappings=[
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
diff --git a/awsim_sensor_kit_launch/package.xml b/awsim_sensor_kit_launch/package.xml
index 93f53f5..694fc77 100644
--- a/awsim_sensor_kit_launch/package.xml
+++ b/awsim_sensor_kit_launch/package.xml
@@ -9,9 +9,9 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>gnss_poser</exec_depend>
-  <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>ublox_gps</exec_depend>
diff --git a/common_awsim_sensor_launch/launch/velodyne_node_container.launch.py b/common_awsim_sensor_launch/launch/velodyne_node_container.launch.py
index 40291ab..87565eb 100644
--- a/common_awsim_sensor_launch/launch/velodyne_node_container.launch.py
+++ b/common_awsim_sensor_launch/launch/velodyne_node_container.launch.py
@@ -72,8 +72,8 @@ def create_parameter_dict(*args):
 
     nodes.append(
         ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
             name="crop_box_filter_self",
             remappings=[
                 ("input", "pointcloud_raw_ex"),
@@ -94,8 +94,8 @@ def create_parameter_dict(*args):
 
     nodes.append(
         ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent",
             name="crop_box_filter_mirror",
             remappings=[
                 ("input", "self_cropped/pointcloud_ex"),
@@ -108,8 +108,8 @@ def create_parameter_dict(*args):
 
     nodes.append(
         ComposableNode(
-            package="pointcloud_preprocessor",
-            plugin="pointcloud_preprocessor::RingOutlierFilterComponent",
+            package="autoware_pointcloud_preprocessor",
+            plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent",
             name="ring_outlier_filter",
             remappings=[
                 ("input", "rectified/pointcloud_ex"),
@@ -130,8 +130,8 @@ def create_parameter_dict(*args):
     )
 
     distortion_component = ComposableNode(
-        package="pointcloud_preprocessor",
-        plugin="pointcloud_preprocessor::DistortionCorrectorComponent",
+        package="autoware_pointcloud_preprocessor",
+        plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent",
         name="distortion_corrector_node",
         remappings=[
             ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),