diff --git a/.github/_CODEOWNERS b/.github/_CODEOWNERS
index 4923e144f2886..3c1defb31a741 100644
--- a/.github/_CODEOWNERS
+++ b/.github/_CODEOWNERS
@@ -211,7 +211,7 @@ sensing/autoware_radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shuns
 sensing/autoware_radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 sensing/autoware_radar_tracks_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp
 sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp
-sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp
+sensing/autoware_vehicle_velocity_converter/** ryu.yamamoto@tier4.jp
 simulator/autoware_carla_interface/** maxime.clement@tier4.jp mradityagio@gmail.com
 simulator/dummy_perception_publisher/** yukihiro.saito@tier4.jp
 simulator/fault_injection/** keisuke.shima@tier4.jp
diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml
index e1226ee63f5e2..4b2cefa02c2fa 100644
--- a/launch/tier4_simulator_launch/launch/simulator.launch.xml
+++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml
@@ -188,9 +188,9 @@
       <push-ros-namespace namespace="sensing"/>
       <arg name="input_vehicle_velocity_topic" default="/vehicle/status/velocity_status"/>
       <arg name="output_twist_with_covariance" default="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
-      <arg name="config_file" default="$(find-pkg-share vehicle_velocity_converter)/config/vehicle_velocity_converter.param.yaml"/>
+      <arg name="config_file" default="$(find-pkg-share autoware_vehicle_velocity_converter)/config/vehicle_velocity_converter.param.yaml"/>
 
-      <node pkg="vehicle_velocity_converter" exec="vehicle_velocity_converter_node" output="both">
+      <node pkg="autoware_vehicle_velocity_converter" exec="autoware_vehicle_velocity_converter_node" output="both">
         <param from="$(var config_file)"/>
         <remap from="velocity_status" to="$(var input_vehicle_velocity_topic)"/>
         <remap from="twist_with_covariance" to="$(var output_twist_with_covariance)"/>
diff --git a/sensing/vehicle_velocity_converter/CHANGELOG.rst b/sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst
similarity index 100%
rename from sensing/vehicle_velocity_converter/CHANGELOG.rst
rename to sensing/autoware_vehicle_velocity_converter/CHANGELOG.rst
diff --git a/sensing/vehicle_velocity_converter/CMakeLists.txt b/sensing/autoware_vehicle_velocity_converter/CMakeLists.txt
similarity index 75%
rename from sensing/vehicle_velocity_converter/CMakeLists.txt
rename to sensing/autoware_vehicle_velocity_converter/CMakeLists.txt
index bb50fbff90c4b..9ff990b928f91 100644
--- a/sensing/vehicle_velocity_converter/CMakeLists.txt
+++ b/sensing/autoware_vehicle_velocity_converter/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(vehicle_velocity_converter)
+project(autoware_vehicle_velocity_converter)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "VehicleVelocityConverter"
+  PLUGIN "autoware::vehicle_velocity_converter::VehicleVelocityConverter"
   EXECUTABLE ${PROJECT_NAME}_node
   EXECUTOR SingleThreadedExecutor
 )
diff --git a/sensing/vehicle_velocity_converter/README.md b/sensing/autoware_vehicle_velocity_converter/README.md
similarity index 97%
rename from sensing/vehicle_velocity_converter/README.md
rename to sensing/autoware_vehicle_velocity_converter/README.md
index 3c7292f3fcdc4..f398a72ea824d 100644
--- a/sensing/vehicle_velocity_converter/README.md
+++ b/sensing/autoware_vehicle_velocity_converter/README.md
@@ -1,4 +1,4 @@
-# vehicle_velocity_converter
+# autoware_vehicle_velocity_converter
 
 ## Purpose
 
diff --git a/sensing/vehicle_velocity_converter/config/vehicle_velocity_converter.param.yaml b/sensing/autoware_vehicle_velocity_converter/config/vehicle_velocity_converter.param.yaml
similarity index 100%
rename from sensing/vehicle_velocity_converter/config/vehicle_velocity_converter.param.yaml
rename to sensing/autoware_vehicle_velocity_converter/config/vehicle_velocity_converter.param.yaml
diff --git a/sensing/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml b/sensing/autoware_vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml
similarity index 60%
rename from sensing/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml
rename to sensing/autoware_vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml
index 84e1838dc89eb..d8386e3b80820 100644
--- a/sensing/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml
+++ b/sensing/autoware_vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml
@@ -1,9 +1,9 @@
 <launch>
   <arg name="input_vehicle_velocity_topic" default="velocity_status"/>
   <arg name="output_twist_with_covariance" default="twist_with_covariance"/>
-  <arg name="config_file" default="$(find-pkg-share vehicle_velocity_converter)/config/vehicle_velocity_converter.param.yaml"/>
+  <arg name="config_file" default="$(find-pkg-share autoware_vehicle_velocity_converter)/config/vehicle_velocity_converter.param.yaml"/>
 
-  <node pkg="vehicle_velocity_converter" exec="vehicle_velocity_converter_node" output="both">
+  <node pkg="autoware_vehicle_velocity_converter" exec="autoware_vehicle_velocity_converter_node" output="both">
     <param from="$(var config_file)"/>
     <remap from="velocity_status" to="$(var input_vehicle_velocity_topic)"/>
     <remap from="twist_with_covariance" to="$(var output_twist_with_covariance)"/>
diff --git a/sensing/vehicle_velocity_converter/package.xml b/sensing/autoware_vehicle_velocity_converter/package.xml
similarity index 84%
rename from sensing/vehicle_velocity_converter/package.xml
rename to sensing/autoware_vehicle_velocity_converter/package.xml
index 57400454b9d8e..323002396c841 100644
--- a/sensing/vehicle_velocity_converter/package.xml
+++ b/sensing/autoware_vehicle_velocity_converter/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>vehicle_velocity_converter</name>
+  <name>autoware_vehicle_velocity_converter</name>
   <version>0.38.0</version>
-  <description>The vehicle_velocity_converter package</description>
+  <description>The autoware_vehicle_velocity_converter package</description>
   <maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
   <license>Apache License 2.0</license>
 
diff --git a/sensing/vehicle_velocity_converter/schema/vehicle_velocity_converter.json b/sensing/autoware_vehicle_velocity_converter/schema/vehicle_velocity_converter.json
similarity index 100%
rename from sensing/vehicle_velocity_converter/schema/vehicle_velocity_converter.json
rename to sensing/autoware_vehicle_velocity_converter/schema/vehicle_velocity_converter.json
diff --git a/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp b/sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.cpp
similarity index 91%
rename from sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp
rename to sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.cpp
index ab9787fb6020d..2211fa0cbb03e 100644
--- a/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp
+++ b/sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.cpp
@@ -12,10 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "vehicle_velocity_converter/vehicle_velocity_converter.hpp"
+#include "vehicle_velocity_converter.hpp"
 
 #include <string>
 
+namespace autoware::vehicle_velocity_converter
+{
 VehicleVelocityConverter::VehicleVelocityConverter(const rclcpp::NodeOptions & options)
 : rclcpp::Node("vehicle_velocity_converter", options)
 {
@@ -55,6 +57,7 @@ void VehicleVelocityConverter::callback_velocity_report(
 
   twist_with_covariance_pub_->publish(twist_with_covariance_msg);
 }
+}  // namespace autoware::vehicle_velocity_converter
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(VehicleVelocityConverter)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::vehicle_velocity_converter::VehicleVelocityConverter)
diff --git a/sensing/vehicle_velocity_converter/include/vehicle_velocity_converter/vehicle_velocity_converter.hpp b/sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.hpp
similarity index 86%
rename from sensing/vehicle_velocity_converter/include/vehicle_velocity_converter/vehicle_velocity_converter.hpp
rename to sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.hpp
index 5f7b1c044d7e3..9d65e34c4457c 100644
--- a/sensing/vehicle_velocity_converter/include/vehicle_velocity_converter/vehicle_velocity_converter.hpp
+++ b/sensing/autoware_vehicle_velocity_converter/src/vehicle_velocity_converter.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef VEHICLE_VELOCITY_CONVERTER__VEHICLE_VELOCITY_CONVERTER_HPP_
-#define VEHICLE_VELOCITY_CONVERTER__VEHICLE_VELOCITY_CONVERTER_HPP_
+#ifndef VEHICLE_VELOCITY_CONVERTER_HPP_
+#define VEHICLE_VELOCITY_CONVERTER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -25,6 +25,8 @@
 #include <string>
 #include <vector>
 
+namespace autoware::vehicle_velocity_converter
+{
 class VehicleVelocityConverter : public rclcpp::Node
 {
 public:
@@ -43,5 +45,6 @@ class VehicleVelocityConverter : public rclcpp::Node
   double stddev_wz_;
   double speed_scale_factor_;
 };
+}  // namespace autoware::vehicle_velocity_converter
 
-#endif  // VEHICLE_VELOCITY_CONVERTER__VEHICLE_VELOCITY_CONVERTER_HPP_
+#endif  // VEHICLE_VELOCITY_CONVERTER_HPP_