diff --git a/sensing/pointcloud_preprocessor/CMakeLists.txt b/sensing/pointcloud_preprocessor/CMakeLists.txt
index b3888ace507e7..20e5c38685db3 100644
--- a/sensing/pointcloud_preprocessor/CMakeLists.txt
+++ b/sensing/pointcloud_preprocessor/CMakeLists.txt
@@ -1,34 +1,14 @@
 cmake_minimum_required(VERSION 3.5)
 project(pointcloud_preprocessor)
 
-### Compile options
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
-  set(CMAKE_CXX_EXTENSIONS OFF)
-endif()
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-endif()
+find_package(autoware_cmake REQUIRED)
+autoware_package()
 
-# Ignore PCL errors in Clang
-if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wno-gnu-anonymous-struct -Wno-nested-anon-types)
-endif()
-
-find_package(ament_cmake_auto REQUIRED)
 find_package(OpenCV REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(Boost REQUIRED)
 find_package(PCL REQUIRED)
-find_package(pcl_conversions REQUIRED)
 find_package(OpenMP)
-ament_auto_find_build_dependencies()
-
-
-###########
-## Build ##
-###########
 
 include_directories(
   include
@@ -155,15 +135,6 @@ rclcpp_components_register_node(pointcloud_preprocessor_filter
   PLUGIN "pointcloud_preprocessor::BlockageDiagComponent"
   EXECUTABLE blockage_diag_node)
 
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-#############
-## Install ##
-#############
-
 ament_auto_package(INSTALL_TO_SHARE
   launch
 )
diff --git a/sensing/pointcloud_preprocessor/package.xml b/sensing/pointcloud_preprocessor/package.xml
index 4b1e3830f5614..9278f0f2157c4 100644
--- a/sensing/pointcloud_preprocessor/package.xml
+++ b/sensing/pointcloud_preprocessor/package.xml
@@ -16,6 +16,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <build_depend>autoware_cmake</build_depend>
 
   <depend>autoware_auto_vehicle_msgs</depend>
   <depend>autoware_point_types</depend>
diff --git a/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt b/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt
index d082019df49c2..0e32166432281 100644
--- a/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt
+++ b/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt
@@ -1,20 +1,12 @@
 cmake_minimum_required(VERSION 3.5)
 project(probabilistic_occupancy_grid_map)
 
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
-  set(CMAKE_CXX_EXTENSIONS OFF)
-endif()
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
+find_package(autoware_cmake REQUIRED)
+autoware_package()
 
-find_package(ament_cmake_auto REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(PCL REQUIRED)
-ament_auto_find_build_dependencies()
 
 # PointcloudBasedOccupancyGridMap
 ament_auto_add_library(pointcloud_based_occupancy_grid_map SHARED
@@ -48,16 +40,6 @@ rclcpp_components_register_node(laserscan_based_occupancy_grid_map
   EXECUTABLE laserscan_based_occupancy_grid_map_node
 )
 
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  list(APPEND AMENT_LINT_AUTO_EXCLUDE
-    # To avoid conflicts between cpplint and uncrustify w.r.t. inclusion guards
-    ament_cmake_uncrustify
-  )
-  ament_lint_auto_find_test_dependencies()
-endif()
-
 ament_auto_package(
   INSTALL_TO_SHARE
     launch
diff --git a/sensing/probabilistic_occupancy_grid_map/package.xml b/sensing/probabilistic_occupancy_grid_map/package.xml
index 873639a5e873c..4180843cb80d8 100644
--- a/sensing/probabilistic_occupancy_grid_map/package.xml
+++ b/sensing/probabilistic_occupancy_grid_map/package.xml
@@ -8,6 +8,7 @@
   <author email="yukihiro.saito@tier4.jp">Yukihiro Saito</author>
   <license>Apache License 2.0</license>
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <build_depend>autoware_cmake</build_depend>
 
   <depend>eigen3_cmake_module</depend>
   <depend>laser_geometry</depend>