From dc69f0f48625794418d4d396528805364900d88e Mon Sep 17 00:00:00 2001
From: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
Date: Tue, 6 Aug 2024 10:39:10 +0900
Subject: [PATCH 1/4] add autoware_ prefix

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
---
 .../CMakeLists.txt                            |  13 ++++---
 .../README.md                                 |  24 ++++++------
 .../example_rule/CMakeLists.txt               |  12 +++---
 .../example_rule/README.md                    |   0
 .../src}/rule_helper/grid_key.hpp             |  14 +++----
 .../src}/rule_helper/pcd_occupancy.cpp        |   8 ++--
 .../src}/rule_helper/pcd_occupancy.hpp        |  10 ++---
 .../src}/rule_helper/pose_estimator_area.cpp  |   6 +--
 .../src}/rule_helper/pose_estimator_area.hpp  |  10 ++---
 .../src}/switch_rule/pcd_map_based_rule.cpp   |   6 +--
 .../src}/switch_rule/pcd_map_based_rule.hpp   |  18 ++++-----
 .../switch_rule/vector_map_based_rule.cpp     |   6 +--
 .../switch_rule/vector_map_based_rule.hpp     |  18 ++++-----
 .../test/test_pcd_map_based_rule.cpp          |  36 +++++++++---------
 .../example_rule/test/test_rule_helper.cpp    |  14 +++----
 .../test/test_vector_map_based_rule.cpp       |  36 +++++++++---------
 .../launch/pose_estimator_arbiter.launch.xml  |   2 +-
 .../media/architecture.drawio.svg             |   0
 .../media/pcd_occupancy.drawio.svg            |   0
 .../pose_estimator_area_in_vector_map.png     | Bin
 .../media/single_pose_estimator.drawio.svg    |   0
 .../package.xml                               |   2 +-
 .../src}/pose_estimator_arbiter.hpp           |  16 ++++----
 .../src}/pose_estimator_arbiter_core.cpp      |  20 +++++-----
 .../src}/pose_estimator_type.hpp              |  10 ++---
 .../src}/shared_data.hpp                      |  10 ++---
 .../src}/stopper/base_stopper.hpp             |  12 +++---
 .../src}/stopper/stopper_artag.hpp            |  12 +++---
 .../src}/stopper/stopper_eagleye.hpp          |  12 +++---
 .../src}/stopper/stopper_ndt.hpp              |  12 +++---
 .../src}/stopper/stopper_yabloc.hpp           |  12 +++---
 .../src}/switch_rule/base_switch_rule.hpp     |  15 ++++----
 .../src}/switch_rule/enable_all_rule.cpp      |   6 +--
 .../src}/switch_rule/enable_all_rule.hpp      |  14 +++----
 .../test/test_pose_estimator_arbiter.py       |   2 +-
 .../test/test_shared_data.cpp                 |   6 +--
 36 files changed, 199 insertions(+), 195 deletions(-)
 rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/CMakeLists.txt (83%)
 rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/README.md (95%)
 rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/example_rule/CMakeLists.txt (67%)
 rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/example_rule/README.md (100%)
 rename localization/{pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/example_rule/src}/rule_helper/grid_key.hpp (78%)
 rename localization/{pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/example_rule/src}/rule_helper/pcd_occupancy.cpp (93%)
 rename localization/{pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/example_rule/src}/rule_helper/pcd_occupancy.hpp (83%)
 rename localization/{pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/example_rule/src}/rule_helper/pose_estimator_area.cpp (96%)
 rename localization/{pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/example_rule/src}/rule_helper/pose_estimator_area.hpp (83%)
 rename localization/{pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/example_rule/src}/switch_rule/pcd_map_based_rule.cpp (93%)
 rename localization/{pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/example_rule/src}/switch_rule/pcd_map_based_rule.hpp (71%)
 rename localization/{pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/example_rule/src}/switch_rule/vector_map_based_rule.cpp (93%)
 rename localization/{pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/example_rule/src}/switch_rule/vector_map_based_rule.hpp (71%)
 rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/example_rule/test/test_pcd_map_based_rule.cpp (62%)
 rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/example_rule/test/test_rule_helper.cpp (87%)
 rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/example_rule/test/test_vector_map_based_rule.cpp (65%)
 rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/launch/pose_estimator_arbiter.launch.xml (93%)
 rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/media/architecture.drawio.svg (100%)
 rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/media/pcd_occupancy.drawio.svg (100%)
 rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/media/pose_estimator_area_in_vector_map.png (100%)
 rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/media/single_pose_estimator.drawio.svg (100%)
 rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/package.xml (97%)
 rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/pose_estimator_arbiter.hpp (89%)
 rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/pose_estimator_arbiter_core.cpp (92%)
 rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/pose_estimator_type.hpp (73%)
 rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/shared_data.hpp (93%)
 rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/stopper/base_stopper.hpp (81%)
 rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/stopper/stopper_artag.hpp (82%)
 rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/stopper/stopper_eagleye.hpp (81%)
 rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/stopper/stopper_ndt.hpp (81%)
 rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/stopper/stopper_yabloc.hpp (89%)
 rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/switch_rule/base_switch_rule.hpp (78%)
 rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/switch_rule/enable_all_rule.cpp (88%)
 rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/switch_rule/enable_all_rule.hpp (71%)
 rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/test/test_pose_estimator_arbiter.py (98%)
 rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/test/test_shared_data.cpp (90%)

diff --git a/localization/pose_estimator_arbiter/CMakeLists.txt b/localization/autoware_pose_estimator_arbiter/CMakeLists.txt
similarity index 83%
rename from localization/pose_estimator_arbiter/CMakeLists.txt
rename to localization/autoware_pose_estimator_arbiter/CMakeLists.txt
index eefb7fc9a6879..a45da8767b72b 100644
--- a/localization/pose_estimator_arbiter/CMakeLists.txt
+++ b/localization/autoware_pose_estimator_arbiter/CMakeLists.txt
@@ -1,22 +1,25 @@
 cmake_minimum_required(VERSION 3.14)
-project(pose_estimator_arbiter)
+project(autoware_pose_estimator_arbiter)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 find_package(PCL REQUIRED COMPONENTS common)
-include_directories(SYSTEM ${PCL_INCLUDE_DIRS})
+include_directories(
+  SYSTEM ${PCL_INCLUDE_DIRS}
+  src
+)
 
 # ==============================
 # pose estimator arbiter node
 ament_auto_add_library(${PROJECT_NAME} SHARED
-  src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp
-  src/pose_estimator_arbiter/switch_rule/enable_all_rule.cpp
+  src/pose_estimator_arbiter_core.cpp
+  src/switch_rule/enable_all_rule.cpp
 )
 target_include_directories(${PROJECT_NAME} PUBLIC src)
 
 rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "pose_estimator_arbiter::PoseEstimatorArbiter"
+  PLUGIN "autoware::pose_estimator_arbiter::PoseEstimatorArbiter"
   EXECUTABLE ${PROJECT_NAME}_node
   EXECUTOR MultiThreadedExecutor
 )
diff --git a/localization/pose_estimator_arbiter/README.md b/localization/autoware_pose_estimator_arbiter/README.md
similarity index 95%
rename from localization/pose_estimator_arbiter/README.md
rename to localization/autoware_pose_estimator_arbiter/README.md
index 7b9397dfdba47..9f26ffd1d8410 100644
--- a/localization/pose_estimator_arbiter/README.md
+++ b/localization/autoware_pose_estimator_arbiter/README.md
@@ -1,4 +1,4 @@
-# pose_estimator_arbiter
+# autoware_pose_estimator_arbiter
 
 Table of contents:
 
@@ -117,8 +117,8 @@ If it does not seems to work, users can get more information in the following wa
 > [!TIP]
 >
 > ```bash
-> ros2 service call /localization/pose_estimator_arbiter/config_logger logging_demo/srv/ConfigLogger \
->   '{logger_name: localization.pose_estimator_arbiter, level: debug}'
+> ros2 service call /localization/autoware_pose_estimator_arbiter/config_logger logging_demo/srv/ConfigLogger \
+>   '{logger_name: localization.autoware_pose_estimator_arbiter, level: debug}'
 > ```
 
 ## Architecture
@@ -135,7 +135,7 @@ Following figure shows the node configuration when NDT, YabLoc Eagleye and AR-Ta
 
 ### Case of running multiple pose estimators
 
-When running multiple pose_estimators, pose_estimator_arbiter is executed.
+When running multiple pose_estimators, autoware_pose_estimator_arbiter is executed.
 It comprises a **switching rule** and **stoppers** corresponding to each pose_estimator.
 
 - Stoppers control the pose_estimator activity by relaying inputs or outputs, or by requesting a suspend service.
@@ -187,14 +187,14 @@ ros2 launch autoware_launch logging_simulator.launch.xml \
 Even if `pose_source` includes an unexpected string, it will be filtered appropriately.
 Please see the table below for details.
 
-| given runtime argument                      | parsed pose_estimator_arbiter's param (pose_sources) |
-| ------------------------------------------- | ---------------------------------------------------- |
-| `pose_source:=ndt`                          | `["ndt"]`                                            |
-| `pose_source:=nan`                          | `[]`                                                 |
-| `pose_source:=yabloc_ndt`                   | `["ndt","yabloc"]`                                   |
-| `pose_source:=yabloc_ndt_ndt_ndt`           | `["ndt","yabloc"]`                                   |
-| `pose_source:=ndt_yabloc_eagleye`           | `["ndt","yabloc","eagleye"]`                         |
-| `pose_source:=ndt_yabloc_nan_eagleye_artag` | `["ndt","yabloc","eagleye","artag"]`                 |
+| given runtime argument                      | parsed autoware_pose_estimator_arbiter's param (pose_sources) |
+| ------------------------------------------- | ------------------------------------------------------------- |
+| `pose_source:=ndt`                          | `["ndt"]`                                                     |
+| `pose_source:=nan`                          | `[]`                                                          |
+| `pose_source:=yabloc_ndt`                   | `["ndt","yabloc"]`                                            |
+| `pose_source:=yabloc_ndt_ndt_ndt`           | `["ndt","yabloc"]`                                            |
+| `pose_source:=ndt_yabloc_eagleye`           | `["ndt","yabloc","eagleye"]`                                  |
+| `pose_source:=ndt_yabloc_nan_eagleye_artag` | `["ndt","yabloc","eagleye","artag"]`                          |
 
 </details>
 
diff --git a/localization/pose_estimator_arbiter/example_rule/CMakeLists.txt b/localization/autoware_pose_estimator_arbiter/example_rule/CMakeLists.txt
similarity index 67%
rename from localization/pose_estimator_arbiter/example_rule/CMakeLists.txt
rename to localization/autoware_pose_estimator_arbiter/example_rule/CMakeLists.txt
index b2b5a828e42e7..5125829ffd69c 100644
--- a/localization/pose_estimator_arbiter/example_rule/CMakeLists.txt
+++ b/localization/autoware_pose_estimator_arbiter/example_rule/CMakeLists.txt
@@ -1,13 +1,13 @@
 # example switch rule library
 ament_auto_add_library(example_rule
   SHARED
-  src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.cpp
-  src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.cpp
-  src/pose_estimator_arbiter/rule_helper/pcd_occupancy.cpp
-  src/pose_estimator_arbiter/rule_helper/pose_estimator_area.cpp
+  src/switch_rule/pcd_map_based_rule.cpp
+  src/switch_rule/vector_map_based_rule.cpp
+  src/rule_helper/pcd_occupancy.cpp
+  src/rule_helper/pose_estimator_area.cpp
 )
 target_include_directories(example_rule PUBLIC src example_rule/src)
-target_link_libraries(example_rule pose_estimator_arbiter)
+target_link_libraries(example_rule autoware_pose_estimator_arbiter)
 
 # ==============================
 # define test definition macro
@@ -16,7 +16,7 @@ function(add_testcase filepath)
   string(REGEX REPLACE ".cpp" "" test_name ${filename})
 
   ament_add_gtest(${test_name} ${filepath})
-  target_link_libraries("${test_name}" pose_estimator_arbiter example_rule)
+  target_link_libraries("${test_name}" autoware_pose_estimator_arbiter example_rule)
   target_include_directories(${test_name} PUBLIC src)
   ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS})
 endfunction()
diff --git a/localization/pose_estimator_arbiter/example_rule/README.md b/localization/autoware_pose_estimator_arbiter/example_rule/README.md
similarity index 100%
rename from localization/pose_estimator_arbiter/example_rule/README.md
rename to localization/autoware_pose_estimator_arbiter/example_rule/README.md
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/grid_key.hpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/grid_key.hpp
similarity index 78%
rename from localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/grid_key.hpp
rename to localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/grid_key.hpp
index b4ad7111e4ba0..d4d4409ade979 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/grid_key.hpp
+++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/grid_key.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__RULE_HELPER__GRID_KEY_HPP_
-#define POSE_ESTIMATOR_ARBITER__RULE_HELPER__GRID_KEY_HPP_
+#ifndef RULE_HELPER__GRID_KEY_HPP_
+#define RULE_HELPER__GRID_KEY_HPP_
 #include <boost/functional/hash.hpp>
 
 #include <pcl/point_types.h>
 
 #include <functional>
 
-namespace pose_estimator_arbiter::rule_helper
+namespace autoware::pose_estimator_arbiter::rule_helper
 {
 struct GridKey
 {
@@ -46,16 +46,16 @@ struct GridKey
   friend bool operator!=(const GridKey & one, const GridKey & other) { return !(one == other); }
 };
 
-}  // namespace pose_estimator_arbiter::rule_helper
+}  // namespace autoware::pose_estimator_arbiter::rule_helper
 
 // This is for unordered_map and unordered_set
 namespace std
 {
 template <>
-struct hash<pose_estimator_arbiter::rule_helper::GridKey>
+struct hash<autoware::pose_estimator_arbiter::rule_helper::GridKey>
 {
 public:
-  size_t operator()(const pose_estimator_arbiter::rule_helper::GridKey & grid) const
+  size_t operator()(const autoware::pose_estimator_arbiter::rule_helper::GridKey & grid) const
   {
     std::size_t seed = 0;
     boost::hash_combine(seed, grid.x);
@@ -65,4 +65,4 @@ struct hash<pose_estimator_arbiter::rule_helper::GridKey>
 };
 }  // namespace std
 
-#endif  // POSE_ESTIMATOR_ARBITER__RULE_HELPER__GRID_KEY_HPP_
+#endif  // RULE_HELPER__GRID_KEY_HPP_
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pcd_occupancy.cpp
similarity index 93%
rename from localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.cpp
rename to localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pcd_occupancy.cpp
index 4b0188a1638f6..197bff459530d 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.cpp
+++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pcd_occupancy.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp"
+#include "rule_helper/pcd_occupancy.hpp"
 
-#include "pose_estimator_arbiter/rule_helper/grid_key.hpp"
+#include "rule_helper/grid_key.hpp"
 
 #include <boost/functional/hash.hpp>
 
@@ -25,7 +25,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace pose_estimator_arbiter::rule_helper
+namespace autoware::pose_estimator_arbiter::rule_helper
 {
 PcdOccupancy::PcdOccupancy(int pcd_density_upper_threshold, int pcd_density_lower_threshold)
 : pcd_density_upper_threshold_(pcd_density_upper_threshold),
@@ -114,4 +114,4 @@ void PcdOccupancy::init(PointCloud2::ConstSharedPtr msg)
   kdtree_->setInputCloud(occupied_areas_);
 }
 
-}  // namespace pose_estimator_arbiter::rule_helper
+}  // namespace autoware::pose_estimator_arbiter::rule_helper
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pcd_occupancy.hpp
similarity index 83%
rename from localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp
rename to localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pcd_occupancy.hpp
index 098704e11aba9..e38cb1bd1ee38 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp
+++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pcd_occupancy.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__RULE_HELPER__PCD_OCCUPANCY_HPP_
-#define POSE_ESTIMATOR_ARBITER__RULE_HELPER__PCD_OCCUPANCY_HPP_
+#ifndef RULE_HELPER__PCD_OCCUPANCY_HPP_
+#define RULE_HELPER__PCD_OCCUPANCY_HPP_
 
 #include <rclcpp/node.hpp>
 
@@ -26,7 +26,7 @@
 
 #include <string>
 
-namespace pose_estimator_arbiter::rule_helper
+namespace autoware::pose_estimator_arbiter::rule_helper
 {
 class PcdOccupancy
 {
@@ -49,6 +49,6 @@ class PcdOccupancy
   pcl::KdTreeFLANN<pcl::PointXYZ>::Ptr kdtree_{nullptr};
 };
 
-}  // namespace pose_estimator_arbiter::rule_helper
+}  // namespace autoware::pose_estimator_arbiter::rule_helper
 
-#endif  // POSE_ESTIMATOR_ARBITER__RULE_HELPER__PCD_OCCUPANCY_HPP_
+#endif  // RULE_HELPER__PCD_OCCUPANCY_HPP_
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.cpp
similarity index 96%
rename from localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.cpp
rename to localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.cpp
index 1bf359b6ab54d..41ad45430d238 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.cpp
+++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp"
+#include "rule_helper/pose_estimator_area.hpp"
 
 #include <autoware_lanelet2_extension/utility/message_conversion.hpp>
 #include <autoware_lanelet2_extension/utility/utilities.hpp>
@@ -26,7 +26,7 @@
 #include <unordered_set>
 #include <vector>
 
-namespace pose_estimator_arbiter::rule_helper
+namespace autoware::pose_estimator_arbiter::rule_helper
 {
 using BoostPoint = boost::geometry::model::d2::point_xy<double>;
 using BoostPolygon = boost::geometry::model::polygon<BoostPoint>;
@@ -141,4 +141,4 @@ bool PoseEstimatorArea::Impl::within(
   }
   return false;
 }
-}  // namespace pose_estimator_arbiter::rule_helper
+}  // namespace autoware::pose_estimator_arbiter::rule_helper
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.hpp
similarity index 83%
rename from localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp
rename to localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.hpp
index 74843c66a4eba..262b064615bc1 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp
+++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__RULE_HELPER__POSE_ESTIMATOR_AREA_HPP_
-#define POSE_ESTIMATOR_ARBITER__RULE_HELPER__POSE_ESTIMATOR_AREA_HPP_
+#ifndef RULE_HELPER__POSE_ESTIMATOR_AREA_HPP_
+#define RULE_HELPER__POSE_ESTIMATOR_AREA_HPP_
 
 #include <rclcpp/logger.hpp>
 #include <rclcpp/node.hpp>
@@ -25,7 +25,7 @@
 #include <memory>
 #include <string>
 
-namespace pose_estimator_arbiter::rule_helper
+namespace autoware::pose_estimator_arbiter::rule_helper
 {
 class PoseEstimatorArea
 {
@@ -51,6 +51,6 @@ class PoseEstimatorArea
   rclcpp::Logger logger_;
 };
 
-}  // namespace pose_estimator_arbiter::rule_helper
+}  // namespace autoware::pose_estimator_arbiter::rule_helper
 
-#endif  // POSE_ESTIMATOR_ARBITER__RULE_HELPER__POSE_ESTIMATOR_AREA_HPP_
+#endif  // RULE_HELPER__POSE_ESTIMATOR_AREA_HPP_
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.cpp
similarity index 93%
rename from localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.cpp
rename to localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.cpp
index 3a565e7f2e4df..cc5414ebd0a68 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.cpp
+++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pose_estimator_arbiter/switch_rule/pcd_map_based_rule.hpp"
+#include "switch_rule/pcd_map_based_rule.hpp"
 
 #include <autoware/universe_utils/ros/parameter.hpp>
 
 #include <utility>
 
-namespace pose_estimator_arbiter::switch_rule
+namespace autoware::pose_estimator_arbiter::switch_rule
 {
 PcdMapBasedRule::PcdMapBasedRule(
   rclcpp::Node & node, std::unordered_set<PoseEstimatorType> running_estimator_list,
@@ -77,4 +77,4 @@ std::unordered_map<PoseEstimatorType, bool> PcdMapBasedRule::update()
     {PoseEstimatorType::artag, false}};
 }
 
-}  // namespace pose_estimator_arbiter::switch_rule
+}  // namespace autoware::pose_estimator_arbiter::switch_rule
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.hpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.hpp
similarity index 71%
rename from localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.hpp
rename to localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.hpp
index ab4d18dcad66a..45559fe37e606 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.hpp
+++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.hpp
@@ -12,20 +12,20 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__SWITCH_RULE__PCD_MAP_BASED_RULE_HPP_
-#define POSE_ESTIMATOR_ARBITER__SWITCH_RULE__PCD_MAP_BASED_RULE_HPP_
+#ifndef SWITCH_RULE__PCD_MAP_BASED_RULE_HPP_
+#define SWITCH_RULE__PCD_MAP_BASED_RULE_HPP_
 
-#include "pose_estimator_arbiter/pose_estimator_type.hpp"
-#include "pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp"
-#include "pose_estimator_arbiter/shared_data.hpp"
-#include "pose_estimator_arbiter/switch_rule/base_switch_rule.hpp"
+#include "pose_estimator_type.hpp"
+#include "rule_helper/pcd_occupancy.hpp"
+#include "shared_data.hpp"
+#include "switch_rule/base_switch_rule.hpp"
 
 #include <memory>
 #include <string>
 #include <unordered_map>
 #include <unordered_set>
 
-namespace pose_estimator_arbiter::switch_rule
+namespace autoware::pose_estimator_arbiter::switch_rule
 {
 class PcdMapBasedRule : public BaseSwitchRule
 {
@@ -49,6 +49,6 @@ class PcdMapBasedRule : public BaseSwitchRule
   // Store the reason why which pose estimator is enabled
   mutable std::string debug_string_;
 };
-}  // namespace pose_estimator_arbiter::switch_rule
+}  // namespace autoware::pose_estimator_arbiter::switch_rule
 
-#endif  // POSE_ESTIMATOR_ARBITER__SWITCH_RULE__PCD_MAP_BASED_RULE_HPP_
+#endif  // SWITCH_RULE__PCD_MAP_BASED_RULE_HPP_
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.cpp
similarity index 93%
rename from localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.cpp
rename to localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.cpp
index dffb738e87685..58cf9ab09e9a7 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.cpp
+++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pose_estimator_arbiter/switch_rule/vector_map_based_rule.hpp"
+#include "switch_rule/vector_map_based_rule.hpp"
 
 #include <magic_enum.hpp>
 
 #include <utility>
 
-namespace pose_estimator_arbiter::switch_rule
+namespace autoware::pose_estimator_arbiter::switch_rule
 {
 VectorMapBasedRule::VectorMapBasedRule(
   rclcpp::Node & node, std::unordered_set<PoseEstimatorType> running_estimator_list,
@@ -76,4 +76,4 @@ std::unordered_map<PoseEstimatorType, bool> VectorMapBasedRule::update()
   return enable_list;
 }
 
-}  // namespace pose_estimator_arbiter::switch_rule
+}  // namespace autoware::pose_estimator_arbiter::switch_rule
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.hpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.hpp
similarity index 71%
rename from localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.hpp
rename to localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.hpp
index 83723a346054b..356651af223f3 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.hpp
+++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__SWITCH_RULE__VECTOR_MAP_BASED_RULE_HPP_
-#define POSE_ESTIMATOR_ARBITER__SWITCH_RULE__VECTOR_MAP_BASED_RULE_HPP_
+#ifndef SWITCH_RULE__VECTOR_MAP_BASED_RULE_HPP_
+#define SWITCH_RULE__VECTOR_MAP_BASED_RULE_HPP_
 
-#include "pose_estimator_arbiter/pose_estimator_type.hpp"
-#include "pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp"
-#include "pose_estimator_arbiter/shared_data.hpp"
-#include "pose_estimator_arbiter/switch_rule/base_switch_rule.hpp"
+#include "pose_estimator_type.hpp"
+#include "rule_helper/pose_estimator_area.hpp"
+#include "shared_data.hpp"
+#include "switch_rule/base_switch_rule.hpp"
 
 #include <memory>
 #include <string>
@@ -26,7 +26,7 @@
 #include <unordered_set>
 #include <vector>
 
-namespace pose_estimator_arbiter::switch_rule
+namespace autoware::pose_estimator_arbiter::switch_rule
 {
 class VectorMapBasedRule : public BaseSwitchRule
 {
@@ -50,6 +50,6 @@ class VectorMapBasedRule : public BaseSwitchRule
 
   std::unique_ptr<rule_helper::PoseEstimatorArea> pose_estimator_area_{nullptr};
 };
-}  // namespace pose_estimator_arbiter::switch_rule
+}  // namespace autoware::pose_estimator_arbiter::switch_rule
 
-#endif  // POSE_ESTIMATOR_ARBITER__SWITCH_RULE__VECTOR_MAP_BASED_RULE_HPP_
+#endif  // SWITCH_RULE__VECTOR_MAP_BASED_RULE_HPP_
diff --git a/localization/pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp
similarity index 62%
rename from localization/pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp
rename to localization/autoware_pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp
index f53e01dc9c548..0d1f245123806 100644
--- a/localization/pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp
+++ b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pose_estimator_arbiter/switch_rule/pcd_map_based_rule.hpp"
+#include "switch_rule/pcd_map_based_rule.hpp"
 
 #include <gtest/gtest.h>
 #include <pcl_conversions/pcl_conversions.h>
@@ -30,21 +30,21 @@ class PcdMapBasedRuleMockNode : public ::testing::Test
     node->declare_parameter("pcd_density_upper_threshold", 5);
 
     const auto running_estimator_list =
-      std::unordered_set<pose_estimator_arbiter::PoseEstimatorType>{
-        pose_estimator_arbiter::PoseEstimatorType::ndt,
-        pose_estimator_arbiter::PoseEstimatorType::yabloc,
-        pose_estimator_arbiter::PoseEstimatorType::eagleye,
-        pose_estimator_arbiter::PoseEstimatorType::artag};
+      std::unordered_set<autoware::pose_estimator_arbiter::PoseEstimatorType>{
+        autoware::pose_estimator_arbiter::PoseEstimatorType::ndt,
+        autoware::pose_estimator_arbiter::PoseEstimatorType::yabloc,
+        autoware::pose_estimator_arbiter::PoseEstimatorType::eagleye,
+        autoware::pose_estimator_arbiter::PoseEstimatorType::artag};
 
-    shared_data_ = std::make_shared<pose_estimator_arbiter::SharedData>();
+    shared_data_ = std::make_shared<autoware::pose_estimator_arbiter::SharedData>();
 
-    rule_ = std::make_shared<pose_estimator_arbiter::switch_rule::PcdMapBasedRule>(
+    rule_ = std::make_shared<autoware::pose_estimator_arbiter::switch_rule::PcdMapBasedRule>(
       *node, running_estimator_list, shared_data_);
   }
 
   std::shared_ptr<rclcpp::Node> node;
-  std::shared_ptr<pose_estimator_arbiter::SharedData> shared_data_;
-  std::shared_ptr<pose_estimator_arbiter::switch_rule::PcdMapBasedRule> rule_;
+  std::shared_ptr<autoware::pose_estimator_arbiter::SharedData> shared_data_;
+  std::shared_ptr<autoware::pose_estimator_arbiter::switch_rule::PcdMapBasedRule> rule_;
 
   void TearDown() override { rclcpp::shutdown(); }
 };
@@ -81,10 +81,10 @@ TEST_F(PcdMapBasedRuleMockNode, pcdMapBasedRule)
     shared_data_->localization_pose_cov.set_and_invoke(
       std::make_shared<const PoseCovStamped>(position));
     auto ret = rule_->update();
-    EXPECT_TRUE(ret.at(pose_estimator_arbiter::PoseEstimatorType::ndt));
-    EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::yabloc));
-    EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::eagleye));
-    EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::artag));
+    EXPECT_TRUE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::ndt));
+    EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::yabloc));
+    EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::eagleye));
+    EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::artag));
   }
 
   {
@@ -92,9 +92,9 @@ TEST_F(PcdMapBasedRuleMockNode, pcdMapBasedRule)
     shared_data_->localization_pose_cov.set_and_invoke(
       std::make_shared<const PoseCovStamped>(position));
     auto ret = rule_->update();
-    EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::ndt));
-    EXPECT_TRUE(ret.at(pose_estimator_arbiter::PoseEstimatorType::yabloc));
-    EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::eagleye));
-    EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::artag));
+    EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::ndt));
+    EXPECT_TRUE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::yabloc));
+    EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::eagleye));
+    EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::artag));
   }
 }
diff --git a/localization/pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp
similarity index 87%
rename from localization/pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp
rename to localization/autoware_pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp
index 3258a1be34fda..10833b5498b89 100644
--- a/localization/pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp
+++ b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pose_estimator_arbiter/rule_helper/grid_key.hpp"
-#include "pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp"
-#include "pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp"
+#include "rule_helper/grid_key.hpp"
+#include "rule_helper/pcd_occupancy.hpp"
+#include "rule_helper/pose_estimator_area.hpp"
 
 #include <autoware_lanelet2_extension/utility/message_conversion.hpp>
 
@@ -64,7 +64,7 @@ TEST_F(RuleHelperMockNode, poseEstimatorArea)
   HADMapBin msg;
   lanelet::utils::conversion::toBinMsg(lanelet_map, &msg);
 
-  pose_estimator_arbiter::rule_helper::PoseEstimatorArea pose_estimator_area(&(*node));
+  autoware::pose_estimator_arbiter::rule_helper::PoseEstimatorArea pose_estimator_area(&(*node));
   pose_estimator_area.init(std::make_shared<HADMapBin>(msg));
 
   EXPECT_TRUE(pose_estimator_area.within(Point().set__x(5).set__y(5).set__z(0), "ndt"));
@@ -75,11 +75,11 @@ TEST_F(RuleHelperMockNode, poseEstimatorArea)
 
 TEST_F(RuleHelperMockNode, pcdOccupancy)
 {
-  using pose_estimator_arbiter::rule_helper::PcdOccupancy;
+  using autoware::pose_estimator_arbiter::rule_helper::PcdOccupancy;
   const int pcd_density_upper_threshold = 20;
   const int pcd_density_lower_threshold = 10;
 
-  pose_estimator_arbiter::rule_helper::PcdOccupancy pcd_occupancy(
+  autoware::pose_estimator_arbiter::rule_helper::PcdOccupancy pcd_occupancy(
     pcd_density_upper_threshold, pcd_density_lower_threshold);
 
   geometry_msgs::msg::Point point;
@@ -91,7 +91,7 @@ TEST_F(RuleHelperMockNode, pcdOccupancy)
 
 TEST_F(RuleHelperMockNode, gridKey)
 {
-  using pose_estimator_arbiter::rule_helper::GridKey;
+  using autoware::pose_estimator_arbiter::rule_helper::GridKey;
   EXPECT_TRUE(GridKey(10., -5.) == GridKey(10., -10.));
   EXPECT_TRUE(GridKey(10., -5.) != GridKey(10., -15.));
 
diff --git a/localization/pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp
similarity index 65%
rename from localization/pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp
rename to localization/autoware_pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp
index ec8c905bf8311..9d537f2048176 100644
--- a/localization/pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp
+++ b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pose_estimator_arbiter/switch_rule/vector_map_based_rule.hpp"
+#include "switch_rule/vector_map_based_rule.hpp"
 
 #include <autoware_lanelet2_extension/utility/message_conversion.hpp>
 
@@ -33,21 +33,21 @@ class VectorMapBasedRuleMockNode : public ::testing::Test
     node = std::make_shared<rclcpp::Node>("test_node");
 
     const auto running_estimator_list =
-      std::unordered_set<pose_estimator_arbiter::PoseEstimatorType>{
-        pose_estimator_arbiter::PoseEstimatorType::ndt,
-        pose_estimator_arbiter::PoseEstimatorType::yabloc,
-        pose_estimator_arbiter::PoseEstimatorType::eagleye,
-        pose_estimator_arbiter::PoseEstimatorType::artag};
+      std::unordered_set<autoware::pose_estimator_arbiter::PoseEstimatorType>{
+        autoware::pose_estimator_arbiter::PoseEstimatorType::ndt,
+        autoware::pose_estimator_arbiter::PoseEstimatorType::yabloc,
+        autoware::pose_estimator_arbiter::PoseEstimatorType::eagleye,
+        autoware::pose_estimator_arbiter::PoseEstimatorType::artag};
 
-    shared_data_ = std::make_shared<pose_estimator_arbiter::SharedData>();
+    shared_data_ = std::make_shared<autoware::pose_estimator_arbiter::SharedData>();
 
-    rule_ = std::make_shared<pose_estimator_arbiter::switch_rule::VectorMapBasedRule>(
+    rule_ = std::make_shared<autoware::pose_estimator_arbiter::switch_rule::VectorMapBasedRule>(
       *node, running_estimator_list, shared_data_);
   }
 
   std::shared_ptr<rclcpp::Node> node;
-  std::shared_ptr<pose_estimator_arbiter::SharedData> shared_data_;
-  std::shared_ptr<pose_estimator_arbiter::switch_rule::VectorMapBasedRule> rule_;
+  std::shared_ptr<autoware::pose_estimator_arbiter::SharedData> shared_data_;
+  std::shared_ptr<autoware::pose_estimator_arbiter::switch_rule::VectorMapBasedRule> rule_;
 
   void TearDown() override { rclcpp::shutdown(); }
 };
@@ -90,17 +90,17 @@ TEST_F(VectorMapBasedRuleMockNode, vectorMapBasedRule)
   {
     shared_data_->localization_pose_cov.set_and_invoke(create_pose(5, 5));
     auto ret = rule_->update();
-    EXPECT_TRUE(ret.at(pose_estimator_arbiter::PoseEstimatorType::ndt));
-    EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::yabloc));
-    EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::eagleye));
-    EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::artag));
+    EXPECT_TRUE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::ndt));
+    EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::yabloc));
+    EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::eagleye));
+    EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::artag));
   }
   {
     shared_data_->localization_pose_cov.set_and_invoke(create_pose(15, 15));
     auto ret = rule_->update();
-    EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::ndt));
-    EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::yabloc));
-    EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::eagleye));
-    EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::artag));
+    EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::ndt));
+    EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::yabloc));
+    EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::eagleye));
+    EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::artag));
   }
 }
diff --git a/localization/pose_estimator_arbiter/launch/pose_estimator_arbiter.launch.xml b/localization/autoware_pose_estimator_arbiter/launch/pose_estimator_arbiter.launch.xml
similarity index 93%
rename from localization/pose_estimator_arbiter/launch/pose_estimator_arbiter.launch.xml
rename to localization/autoware_pose_estimator_arbiter/launch/pose_estimator_arbiter.launch.xml
index b5be96fc3ce44..d38f0e2a104a8 100644
--- a/localization/pose_estimator_arbiter/launch/pose_estimator_arbiter.launch.xml
+++ b/localization/autoware_pose_estimator_arbiter/launch/pose_estimator_arbiter.launch.xml
@@ -3,7 +3,7 @@
   <arg name="pose_sources" description=""/>
   <arg name="input_pointcloud" description=""/>
 
-  <node pkg="pose_estimator_arbiter" exec="pose_estimator_arbiter_node" output="both">
+  <node pkg="autoware_pose_estimator_arbiter" exec="autoware_pose_estimator_arbiter_node" output="both">
     <param name="pose_sources" value="$(var pose_sources)"/>
 
     <!-- ndt -->
diff --git a/localization/pose_estimator_arbiter/media/architecture.drawio.svg b/localization/autoware_pose_estimator_arbiter/media/architecture.drawio.svg
similarity index 100%
rename from localization/pose_estimator_arbiter/media/architecture.drawio.svg
rename to localization/autoware_pose_estimator_arbiter/media/architecture.drawio.svg
diff --git a/localization/pose_estimator_arbiter/media/pcd_occupancy.drawio.svg b/localization/autoware_pose_estimator_arbiter/media/pcd_occupancy.drawio.svg
similarity index 100%
rename from localization/pose_estimator_arbiter/media/pcd_occupancy.drawio.svg
rename to localization/autoware_pose_estimator_arbiter/media/pcd_occupancy.drawio.svg
diff --git a/localization/pose_estimator_arbiter/media/pose_estimator_area_in_vector_map.png b/localization/autoware_pose_estimator_arbiter/media/pose_estimator_area_in_vector_map.png
similarity index 100%
rename from localization/pose_estimator_arbiter/media/pose_estimator_area_in_vector_map.png
rename to localization/autoware_pose_estimator_arbiter/media/pose_estimator_area_in_vector_map.png
diff --git a/localization/pose_estimator_arbiter/media/single_pose_estimator.drawio.svg b/localization/autoware_pose_estimator_arbiter/media/single_pose_estimator.drawio.svg
similarity index 100%
rename from localization/pose_estimator_arbiter/media/single_pose_estimator.drawio.svg
rename to localization/autoware_pose_estimator_arbiter/media/single_pose_estimator.drawio.svg
diff --git a/localization/pose_estimator_arbiter/package.xml b/localization/autoware_pose_estimator_arbiter/package.xml
similarity index 97%
rename from localization/pose_estimator_arbiter/package.xml
rename to localization/autoware_pose_estimator_arbiter/package.xml
index d97c9f15fc8ae..f3aa30a2c6425 100644
--- a/localization/pose_estimator_arbiter/package.xml
+++ b/localization/autoware_pose_estimator_arbiter/package.xml
@@ -1,7 +1,7 @@
 <?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>pose_estimator_arbiter</name>
+  <name>autoware_pose_estimator_arbiter</name>
   <version>0.1.0</version>
   <description>The arbiter of multiple pose estimators</description>
   <maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp b/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter.hpp
similarity index 89%
rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp
rename to localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter.hpp
index 013b4b38f9ef6..b70ab378eac67 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp
+++ b/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__POSE_ESTIMATOR_ARBITER_HPP_
-#define POSE_ESTIMATOR_ARBITER__POSE_ESTIMATOR_ARBITER_HPP_
+#ifndef POSE_ESTIMATOR_ARBITER_HPP_
+#define POSE_ESTIMATOR_ARBITER_HPP_
 
-#include "pose_estimator_arbiter/shared_data.hpp"
-#include "pose_estimator_arbiter/stopper/base_stopper.hpp"
-#include "pose_estimator_arbiter/switch_rule/base_switch_rule.hpp"
+#include "shared_data.hpp"
+#include "stopper/base_stopper.hpp"
+#include "switch_rule/base_switch_rule.hpp"
 
 #include <autoware/universe_utils/ros/logger_level_configure.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -32,7 +32,7 @@
 #include <unordered_map>
 #include <unordered_set>
 
-namespace pose_estimator_arbiter
+namespace autoware::pose_estimator_arbiter
 {
 class PoseEstimatorArbiter : public rclcpp::Node
 {
@@ -95,6 +95,6 @@ class PoseEstimatorArbiter : public rclcpp::Node
   // Timer callback
   void on_timer();
 };
-}  // namespace pose_estimator_arbiter
+}  // namespace autoware::pose_estimator_arbiter
 
-#endif  // POSE_ESTIMATOR_ARBITER__POSE_ESTIMATOR_ARBITER_HPP_
+#endif  // POSE_ESTIMATOR_ARBITER_HPP_
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp b/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter_core.cpp
similarity index 92%
rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp
rename to localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter_core.cpp
index 8e25628d6e0fc..51cc35b9e8bc5 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp
+++ b/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter_core.cpp
@@ -12,17 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pose_estimator_arbiter/pose_estimator_arbiter.hpp"
-#include "pose_estimator_arbiter/pose_estimator_type.hpp"
-#include "pose_estimator_arbiter/stopper/stopper_artag.hpp"
-#include "pose_estimator_arbiter/stopper/stopper_eagleye.hpp"
-#include "pose_estimator_arbiter/stopper/stopper_ndt.hpp"
-#include "pose_estimator_arbiter/stopper/stopper_yabloc.hpp"
-#include "pose_estimator_arbiter/switch_rule/enable_all_rule.hpp"
+#include "pose_estimator_arbiter.hpp"
+#include "pose_estimator_type.hpp"
+#include "stopper/stopper_artag.hpp"
+#include "stopper/stopper_eagleye.hpp"
+#include "stopper/stopper_ndt.hpp"
+#include "stopper/stopper_yabloc.hpp"
+#include "switch_rule/enable_all_rule.hpp"
 
 #include <magic_enum.hpp>
 
-namespace pose_estimator_arbiter
+namespace autoware::pose_estimator_arbiter
 {
 // Parses ros param to get the estimator set that is running
 static std::unordered_set<PoseEstimatorType> parse_estimator_name_args(
@@ -210,7 +210,7 @@ void PoseEstimatorArbiter::on_timer()
   publish_diagnostics();
 }
 
-}  // namespace pose_estimator_arbiter
+}  // namespace autoware::pose_estimator_arbiter
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(pose_estimator_arbiter::PoseEstimatorArbiter)
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::pose_estimator_arbiter::PoseEstimatorArbiter)
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_type.hpp b/localization/autoware_pose_estimator_arbiter/src/pose_estimator_type.hpp
similarity index 73%
rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_type.hpp
rename to localization/autoware_pose_estimator_arbiter/src/pose_estimator_type.hpp
index d78bfeb05b4f0..98f92612f8bc7 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_type.hpp
+++ b/localization/autoware_pose_estimator_arbiter/src/pose_estimator_type.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__POSE_ESTIMATOR_TYPE_HPP_
-#define POSE_ESTIMATOR_ARBITER__POSE_ESTIMATOR_TYPE_HPP_
+#ifndef POSE_ESTIMATOR_TYPE_HPP_
+#define POSE_ESTIMATOR_TYPE_HPP_
 
-namespace pose_estimator_arbiter
+namespace autoware::pose_estimator_arbiter
 {
 enum class PoseEstimatorType : int { ndt = 1, yabloc = 2, eagleye = 4, artag = 8 };
-}  // namespace pose_estimator_arbiter
+}  // namespace autoware::pose_estimator_arbiter
 
-#endif  // POSE_ESTIMATOR_ARBITER__POSE_ESTIMATOR_TYPE_HPP_
+#endif  // POSE_ESTIMATOR_TYPE_HPP_
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/shared_data.hpp b/localization/autoware_pose_estimator_arbiter/src/shared_data.hpp
similarity index 93%
rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/shared_data.hpp
rename to localization/autoware_pose_estimator_arbiter/src/shared_data.hpp
index 0d3dbfab11cbe..6332b77a9ed31 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/shared_data.hpp
+++ b/localization/autoware_pose_estimator_arbiter/src/shared_data.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__SHARED_DATA_HPP_
-#define POSE_ESTIMATOR_ARBITER__SHARED_DATA_HPP_
+#ifndef SHARED_DATA_HPP_
+#define SHARED_DATA_HPP_
 
 #include <autoware_adapi_v1_msgs/msg/localization_initialization_state.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
@@ -25,7 +25,7 @@
 #include <optional>
 #include <vector>
 
-namespace pose_estimator_arbiter
+namespace autoware::pose_estimator_arbiter
 {
 template <typename T>
 struct CallbackInvokingVariable
@@ -97,5 +97,5 @@ struct SharedData
       InitializationState{}.set__state(InitializationState::UNINITIALIZED))};
 };
 
-}  // namespace pose_estimator_arbiter
-#endif  // POSE_ESTIMATOR_ARBITER__SHARED_DATA_HPP_
+}  // namespace autoware::pose_estimator_arbiter
+#endif  // SHARED_DATA_HPP_
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/base_stopper.hpp b/localization/autoware_pose_estimator_arbiter/src/stopper/base_stopper.hpp
similarity index 81%
rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/base_stopper.hpp
rename to localization/autoware_pose_estimator_arbiter/src/stopper/base_stopper.hpp
index d64592a12308e..8b47b0e3b3a9a 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/base_stopper.hpp
+++ b/localization/autoware_pose_estimator_arbiter/src/stopper/base_stopper.hpp
@@ -12,17 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__STOPPER__BASE_STOPPER_HPP_
-#define POSE_ESTIMATOR_ARBITER__STOPPER__BASE_STOPPER_HPP_
+#ifndef STOPPER__BASE_STOPPER_HPP_
+#define STOPPER__BASE_STOPPER_HPP_
 
-#include "pose_estimator_arbiter/shared_data.hpp"
+#include "shared_data.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>
 #include <utility>
 
-namespace pose_estimator_arbiter::stopper
+namespace autoware::pose_estimator_arbiter::stopper
 {
 class BaseStopper
 {
@@ -48,6 +48,6 @@ class BaseStopper
   rclcpp::Logger logger_;
   std::shared_ptr<const SharedData> shared_data_{nullptr};
 };
-}  // namespace pose_estimator_arbiter::stopper
+}  // namespace autoware::pose_estimator_arbiter::stopper
 
-#endif  // POSE_ESTIMATOR_ARBITER__STOPPER__BASE_STOPPER_HPP_
+#endif  // STOPPER__BASE_STOPPER_HPP_
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_artag.hpp b/localization/autoware_pose_estimator_arbiter/src/stopper/stopper_artag.hpp
similarity index 82%
rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_artag.hpp
rename to localization/autoware_pose_estimator_arbiter/src/stopper/stopper_artag.hpp
index f334983f33aad..3635ebd39c545 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_artag.hpp
+++ b/localization/autoware_pose_estimator_arbiter/src/stopper/stopper_artag.hpp
@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_ARTAG_HPP_
-#define POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_ARTAG_HPP_
+#ifndef STOPPER__STOPPER_ARTAG_HPP_
+#define STOPPER__STOPPER_ARTAG_HPP_
 
-#include "pose_estimator_arbiter/stopper/base_stopper.hpp"
+#include "stopper/base_stopper.hpp"
 
 #include <sensor_msgs/msg/image.hpp>
 #include <std_srvs/srv/set_bool.hpp>
 
 #include <memory>
-namespace pose_estimator_arbiter::stopper
+namespace autoware::pose_estimator_arbiter::stopper
 {
 class StopperArTag : public BaseStopper
 {
@@ -52,6 +52,6 @@ class StopperArTag : public BaseStopper
   bool ar_tag_is_enabled_;
   rclcpp::Publisher<Image>::SharedPtr pub_image_;
 };
-}  // namespace pose_estimator_arbiter::stopper
+}  // namespace autoware::pose_estimator_arbiter::stopper
 
-#endif  // POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_ARTAG_HPP_
+#endif  // STOPPER__STOPPER_ARTAG_HPP_
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_eagleye.hpp b/localization/autoware_pose_estimator_arbiter/src/stopper/stopper_eagleye.hpp
similarity index 81%
rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_eagleye.hpp
rename to localization/autoware_pose_estimator_arbiter/src/stopper/stopper_eagleye.hpp
index cc800ad6bdee4..cfddf3e13014f 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_eagleye.hpp
+++ b/localization/autoware_pose_estimator_arbiter/src/stopper/stopper_eagleye.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_EAGLEYE_HPP_
-#define POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_EAGLEYE_HPP_
-#include "pose_estimator_arbiter/stopper/base_stopper.hpp"
+#ifndef STOPPER__STOPPER_EAGLEYE_HPP_
+#define STOPPER__STOPPER_EAGLEYE_HPP_
+#include "stopper/base_stopper.hpp"
 
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 
 #include <memory>
 
-namespace pose_estimator_arbiter::stopper
+namespace autoware::pose_estimator_arbiter::stopper
 {
 class StopperEagleye : public BaseStopper
 {
@@ -49,6 +49,6 @@ class StopperEagleye : public BaseStopper
   bool eagleye_is_enabled_;
   rclcpp::Publisher<PoseCovStamped>::SharedPtr pub_pose_;
 };
-}  // namespace pose_estimator_arbiter::stopper
+}  // namespace autoware::pose_estimator_arbiter::stopper
 
-#endif  // POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_EAGLEYE_HPP_
+#endif  // STOPPER__STOPPER_EAGLEYE_HPP_
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_ndt.hpp b/localization/autoware_pose_estimator_arbiter/src/stopper/stopper_ndt.hpp
similarity index 81%
rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_ndt.hpp
rename to localization/autoware_pose_estimator_arbiter/src/stopper/stopper_ndt.hpp
index 3b7c083ea31e3..eba43118c7860 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_ndt.hpp
+++ b/localization/autoware_pose_estimator_arbiter/src/stopper/stopper_ndt.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_NDT_HPP_
-#define POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_NDT_HPP_
-#include "pose_estimator_arbiter/stopper/base_stopper.hpp"
+#ifndef STOPPER__STOPPER_NDT_HPP_
+#define STOPPER__STOPPER_NDT_HPP_
+#include "stopper/base_stopper.hpp"
 
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
 #include <memory>
 
-namespace pose_estimator_arbiter::stopper
+namespace autoware::pose_estimator_arbiter::stopper
 {
 class StopperNdt : public BaseStopper
 {
@@ -49,6 +49,6 @@ class StopperNdt : public BaseStopper
   rclcpp::Publisher<PointCloud2>::SharedPtr pub_pointcloud_;
   bool ndt_is_enabled_;
 };
-}  // namespace pose_estimator_arbiter::stopper
+}  // namespace autoware::pose_estimator_arbiter::stopper
 
-#endif  // POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_NDT_HPP_
+#endif  // STOPPER__STOPPER_NDT_HPP_
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_yabloc.hpp b/localization/autoware_pose_estimator_arbiter/src/stopper/stopper_yabloc.hpp
similarity index 89%
rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_yabloc.hpp
rename to localization/autoware_pose_estimator_arbiter/src/stopper/stopper_yabloc.hpp
index 808a5bf9407ca..77aa9603ac06a 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_yabloc.hpp
+++ b/localization/autoware_pose_estimator_arbiter/src/stopper/stopper_yabloc.hpp
@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_YABLOC_HPP_
-#define POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_YABLOC_HPP_
-#include "pose_estimator_arbiter/stopper/base_stopper.hpp"
+#ifndef STOPPER__STOPPER_YABLOC_HPP_
+#define STOPPER__STOPPER_YABLOC_HPP_
+#include "stopper/base_stopper.hpp"
 
 #include <sensor_msgs/msg/image.hpp>
 #include <std_srvs/srv/set_bool.hpp>
 
 #include <memory>
 
-namespace pose_estimator_arbiter::stopper
+namespace autoware::pose_estimator_arbiter::stopper
 {
 class StopperYabLoc : public BaseStopper
 {
@@ -86,5 +86,5 @@ class StopperYabLoc : public BaseStopper
   rclcpp::Client<SetBool>::SharedPtr enable_service_client_;
   rclcpp::Publisher<Image>::SharedPtr pub_image_;
 };
-}  // namespace pose_estimator_arbiter::stopper
-#endif  // POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_YABLOC_HPP_
+}  // namespace autoware::pose_estimator_arbiter::stopper
+#endif  // STOPPER__STOPPER_YABLOC_HPP_
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/base_switch_rule.hpp b/localization/autoware_pose_estimator_arbiter/src/switch_rule/base_switch_rule.hpp
similarity index 78%
rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/base_switch_rule.hpp
rename to localization/autoware_pose_estimator_arbiter/src/switch_rule/base_switch_rule.hpp
index 95d10c2b741a8..0462ce6e7d340 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/base_switch_rule.hpp
+++ b/localization/autoware_pose_estimator_arbiter/src/switch_rule/base_switch_rule.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__SWITCH_RULE__BASE_SWITCH_RULE_HPP_
-#define POSE_ESTIMATOR_ARBITER__SWITCH_RULE__BASE_SWITCH_RULE_HPP_
+#ifndef SWITCH_RULE__BASE_SWITCH_RULE_HPP_
+#define SWITCH_RULE__BASE_SWITCH_RULE_HPP_
 
-#include "pose_estimator_arbiter/pose_estimator_type.hpp"
+#include "pose_estimator_type.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -26,7 +26,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace pose_estimator_arbiter::switch_rule
+namespace autoware::pose_estimator_arbiter::switch_rule
 {
 class BaseSwitchRule
 {
@@ -44,7 +44,8 @@ class BaseSwitchRule
   BaseSwitchRule(BaseSwitchRule && other) noexcept = default;
   BaseSwitchRule & operator=(const BaseSwitchRule & other) = default;
   BaseSwitchRule & operator=(BaseSwitchRule && other) noexcept = default;
-  virtual std::unordered_map<PoseEstimatorType, bool> update() = 0;
+  virtual std::unordered_map<autoware::pose_estimator_arbiter::PoseEstimatorType, bool>
+  update() = 0;
   virtual std::string debug_string() { return std::string{}; }
   virtual MarkerArray debug_marker_array() { return MarkerArray{}; }
 
@@ -53,6 +54,6 @@ class BaseSwitchRule
   std::shared_ptr<rclcpp::Logger> logger_ptr_{nullptr};
 };
 
-}  // namespace pose_estimator_arbiter::switch_rule
+}  // namespace autoware::pose_estimator_arbiter::switch_rule
 
-#endif  // POSE_ESTIMATOR_ARBITER__SWITCH_RULE__BASE_SWITCH_RULE_HPP_
+#endif  // SWITCH_RULE__BASE_SWITCH_RULE_HPP_
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.cpp b/localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.cpp
similarity index 88%
rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.cpp
rename to localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.cpp
index aebad094a0eca..9767e9ef4fba4 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.cpp
+++ b/localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pose_estimator_arbiter/switch_rule/enable_all_rule.hpp"
+#include "switch_rule/enable_all_rule.hpp"
 
 #include <visualization_msgs/msg/marker_array.hpp>
 
@@ -22,7 +22,7 @@
 #include <utility>
 #include <vector>
 
-namespace pose_estimator_arbiter::switch_rule
+namespace autoware::pose_estimator_arbiter::switch_rule
 {
 EnableAllRule::EnableAllRule(
   rclcpp::Node & node, std::unordered_set<PoseEstimatorType> running_estimator_list,
@@ -41,4 +41,4 @@ std::unordered_map<PoseEstimatorType, bool> EnableAllRule::update()
   };
 }
 
-}  // namespace pose_estimator_arbiter::switch_rule
+}  // namespace autoware::pose_estimator_arbiter::switch_rule
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.hpp b/localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.hpp
similarity index 71%
rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.hpp
rename to localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.hpp
index 63142b0e662e1..bf2aa68df35d5 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.hpp
+++ b/localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.hpp
@@ -12,18 +12,18 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef POSE_ESTIMATOR_ARBITER__SWITCH_RULE__ENABLE_ALL_RULE_HPP_
-#define POSE_ESTIMATOR_ARBITER__SWITCH_RULE__ENABLE_ALL_RULE_HPP_
+#ifndef SWITCH_RULE__ENABLE_ALL_RULE_HPP_
+#define SWITCH_RULE__ENABLE_ALL_RULE_HPP_
 
-#include "pose_estimator_arbiter/shared_data.hpp"
-#include "pose_estimator_arbiter/switch_rule/base_switch_rule.hpp"
+#include "shared_data.hpp"
+#include "switch_rule/base_switch_rule.hpp"
 
 #include <memory>
 #include <string>
 #include <unordered_map>
 #include <unordered_set>
 
-namespace pose_estimator_arbiter::switch_rule
+namespace autoware::pose_estimator_arbiter::switch_rule
 {
 class EnableAllRule : public BaseSwitchRule
 {
@@ -38,6 +38,6 @@ class EnableAllRule : public BaseSwitchRule
   const std::unordered_set<PoseEstimatorType> running_estimator_list_;
 };
 
-}  // namespace pose_estimator_arbiter::switch_rule
+}  // namespace autoware::pose_estimator_arbiter::switch_rule
 
-#endif  // POSE_ESTIMATOR_ARBITER__SWITCH_RULE__ENABLE_ALL_RULE_HPP_
+#endif  // SWITCH_RULE__ENABLE_ALL_RULE_HPP_
diff --git a/localization/pose_estimator_arbiter/test/test_pose_estimator_arbiter.py b/localization/autoware_pose_estimator_arbiter/test/test_pose_estimator_arbiter.py
similarity index 98%
rename from localization/pose_estimator_arbiter/test/test_pose_estimator_arbiter.py
rename to localization/autoware_pose_estimator_arbiter/test/test_pose_estimator_arbiter.py
index c419fb68e0571..a5ff04c002004 100644
--- a/localization/pose_estimator_arbiter/test/test_pose_estimator_arbiter.py
+++ b/localization/autoware_pose_estimator_arbiter/test/test_pose_estimator_arbiter.py
@@ -38,7 +38,7 @@
 @pytest.mark.launch_test
 def generate_test_description():
     test_pose_estimator_arbiter_launch_file = os.path.join(
-        get_package_share_directory("pose_estimator_arbiter"),
+        get_package_share_directory("autoware_pose_estimator_arbiter"),
         "launch",
         "pose_estimator_arbiter.launch.xml",
     )
diff --git a/localization/pose_estimator_arbiter/test/test_shared_data.cpp b/localization/autoware_pose_estimator_arbiter/test/test_shared_data.cpp
similarity index 90%
rename from localization/pose_estimator_arbiter/test/test_shared_data.cpp
rename to localization/autoware_pose_estimator_arbiter/test/test_shared_data.cpp
index 3c1fa50b502a1..c0f7044442d71 100644
--- a/localization/pose_estimator_arbiter/test/test_shared_data.cpp
+++ b/localization/autoware_pose_estimator_arbiter/test/test_shared_data.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "pose_estimator_arbiter/shared_data.hpp"
+#include "shared_data.hpp"
 
 #include <gtest/gtest.h>
 
 TEST(SharedData, callback_invoked_correctly)
 {
-  pose_estimator_arbiter::CallbackInvokingVariable<int> variable;
+  autoware::pose_estimator_arbiter::CallbackInvokingVariable<int> variable;
 
   // register callback
   bool callback_invoked = false;
@@ -44,7 +44,7 @@ TEST(SharedData, callback_invoked_correctly)
 
 TEST(SharedData, multiple_callback_invoked_correctly)
 {
-  pose_estimator_arbiter::CallbackInvokingVariable<int> variable;
+  autoware::pose_estimator_arbiter::CallbackInvokingVariable<int> variable;
 
   // register callback
   int callback_invoked_num = 0;

From a7772b01fbacf8199a2d8410f6d612123fb1c3b2 Mon Sep 17 00:00:00 2001
From: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
Date: Wed, 7 Aug 2024 11:32:56 +0900
Subject: [PATCH 2/4] add autoware_ prefix

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
---
 .../launch/pose_twist_estimator/pose_twist_estimator.launch.xml | 2 +-
 launch/tier4_localization_launch/package.xml                    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
index fa6bce0e38e55..f06c9f83efb35 100644
--- a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
+++ b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
@@ -93,7 +93,7 @@
 
   <!-- Pose Estimator Arbiter Launch -->
   <group if="$(var multi_localizer_mode)">
-    <include file="$(find-pkg-share pose_estimator_arbiter)/launch/pose_estimator_arbiter.launch.xml">
+    <include file="$(find-pkg-share autoware_pose_estimator_arbiter)/launch/pose_estimator_arbiter.launch.xml">
       <arg name="pose_sources" value="$(var pose_sources)"/>
       <arg name="input_pointcloud" value="$(var input_pointcloud)"/>
     </include>
diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml
index b3dc75bbf79cc..6e585260a7f2a 100644
--- a/launch/tier4_localization_launch/package.xml
+++ b/launch/tier4_localization_launch/package.xml
@@ -20,6 +20,7 @@
   <exec_depend>automatic_pose_initializer</exec_depend>
   <exec_depend>autoware_ar_tag_based_localizer</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
+  <exec_depend>autoware_pose_estimator_arbiter</exec_depend>
   <exec_depend>eagleye_geo_pose_fusion</exec_depend>
   <exec_depend>eagleye_gnss_converter</exec_depend>
   <exec_depend>eagleye_rt</exec_depend>
@@ -27,7 +28,6 @@
   <exec_depend>geo_pose_projector</exec_depend>
   <exec_depend>gyro_odometer</exec_depend>
   <exec_depend>ndt_scan_matcher</exec_depend>
-  <exec_depend>pose_estimator_arbiter</exec_depend>
   <exec_depend>pose_initializer</exec_depend>
   <exec_depend>pose_instability_detector</exec_depend>
   <exec_depend>topic_tools</exec_depend>

From f002abf7528ae444e17a6b4c7d68dbfbeb686f65 Mon Sep 17 00:00:00 2001
From: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
Date: Fri, 9 Aug 2024 18:39:54 +0900
Subject: [PATCH 3/4] fix link for landmark_based_localizer

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
---
 localization/autoware_pose_estimator_arbiter/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/localization/autoware_pose_estimator_arbiter/README.md b/localization/autoware_pose_estimator_arbiter/README.md
index 9f26ffd1d8410..938bb20e252ac 100644
--- a/localization/autoware_pose_estimator_arbiter/README.md
+++ b/localization/autoware_pose_estimator_arbiter/README.md
@@ -35,7 +35,7 @@ Also, even if both can be activated at the same time, the Kalman Filter may be a
 - [ndt_scan_matcher](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ndt_scan_matcher)
 - [eagleye](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/launch-autoware/localization/eagleye/)
 - [yabloc](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/yabloc)
-- [landmark_based_localizer](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/landmark_based_localizer)
+- [landmark_based_localizer](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/autoware_landmark_based_localizer)
 
 ### Demonstration
 

From 990b3e4cbfca28811d4730357072592e6887029b Mon Sep 17 00:00:00 2001
From: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
Date: Thu, 22 Aug 2024 13:07:15 +0900
Subject: [PATCH 4/4] remove Shadowing

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
---
 .../src/pose_estimator_arbiter_core.cpp                     | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter_core.cpp b/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter_core.cpp
index 51cc35b9e8bc5..9108d44e82fb5 100644
--- a/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter_core.cpp
+++ b/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter_core.cpp
@@ -111,9 +111,9 @@ PoseEstimatorArbiter::PoseEstimatorArbiter(const rclcpp::NodeOptions & options)
   load_switch_rule();
 
   // Timer callback
-  auto on_timer = std::bind(&PoseEstimatorArbiter::on_timer, this);
-  timer_ =
-    rclcpp::create_timer(this, this->get_clock(), rclcpp::Rate(1).period(), std::move(on_timer));
+  auto on_timer_callback = std::bind(&PoseEstimatorArbiter::on_timer, this);
+  timer_ = rclcpp::create_timer(
+    this, this->get_clock(), rclcpp::Rate(1).period(), std::move(on_timer_callback));
 
   // Enable all pose estimators at the first
   toggle_all(true);