diff --git a/planning/static_centerline_optimizer/CMakeLists.txt b/planning/static_centerline_generator/CMakeLists.txt
similarity index 80%
rename from planning/static_centerline_optimizer/CMakeLists.txt
rename to planning/static_centerline_generator/CMakeLists.txt
index cc33f2234a50c..991d12097cc08 100644
--- a/planning/static_centerline_optimizer/CMakeLists.txt
+++ b/planning/static_centerline_generator/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(static_centerline_optimizer)
+project(static_centerline_generator)
 
 find_package(autoware_cmake REQUIRED)
 
@@ -9,7 +9,7 @@ find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 
 rosidl_generate_interfaces(
-  static_centerline_optimizer
+  static_centerline_generator
   "srv/LoadMap.srv"
   "srv/PlanRoute.srv"
   "srv/PlanPath.srv"
@@ -21,7 +21,7 @@ autoware_package()
 
 ament_auto_add_executable(main
   src/main.cpp
-  src/static_centerline_optimizer_node.cpp
+  src/static_centerline_generator_node.cpp
   src/centerline_source/optimization_trajectory_based_centerline.cpp
   src/centerline_source/bag_ego_trajectory_based_centerline.cpp
   src/utils.cpp
@@ -29,10 +29,10 @@ ament_auto_add_executable(main
 
 if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
     rosidl_target_interfaces(main
-    static_centerline_optimizer "rosidl_typesupport_cpp")
+    static_centerline_generator "rosidl_typesupport_cpp")
 else()
     rosidl_get_typesupport_target(
-            cpp_typesupport_target static_centerline_optimizer "rosidl_typesupport_cpp")
+            cpp_typesupport_target static_centerline_generator "rosidl_typesupport_cpp")
     target_link_libraries(main "${cpp_typesupport_target}")
 endif()
 
@@ -45,7 +45,7 @@ ament_auto_package(
 
 if(BUILD_TESTING)
   add_launch_test(
-    test/test_static_centerline_optimizer.test.py
+    test/test_static_centerline_generator.test.py
     TIMEOUT "30"
   )
   install(DIRECTORY
diff --git a/planning/static_centerline_optimizer/README.md b/planning/static_centerline_generator/README.md
similarity index 94%
rename from planning/static_centerline_optimizer/README.md
rename to planning/static_centerline_generator/README.md
index fd5a58ef816df..ac7bf54585890 100644
--- a/planning/static_centerline_optimizer/README.md
+++ b/planning/static_centerline_generator/README.md
@@ -34,7 +34,7 @@ We can run
 with the following command by designating `<vehicle_model>`
 
 ```sh
-ros2 launch static_centerline_optimizer run_planning_server.launch.xml vehicle_model:=<vehicle-model>
+ros2 launch static_centerline_generator run_planning_server.launch.xml vehicle_model:=<vehicle-model>
 ```
 
 FYI, port ID of the http server is 4010 by default.
@@ -50,7 +50,7 @@ The optimized centerline can be generated from the command line interface by des
 - `<vehicle-model>`
 
 ```sh
-ros2 launch static_centerline_optimizer static_centerline_optimizer.launch.xml run_backgrond:=false lanelet2_input_file_path:=<input-osm-path> lanelet2_output_file_path:=<output-osm-path> start_lanelet_id:=<start-lane-id> end_lanelet_id:=<end-lane-id> vehicle_model:=<vehicle-model>
+ros2 launch static_centerline_generator static_centerline_generator.launch.xml run_backgrond:=false lanelet2_input_file_path:=<input-osm-path> lanelet2_output_file_path:=<output-osm-path> start_lanelet_id:=<start-lane-id> end_lanelet_id:=<end-lane-id> vehicle_model:=<vehicle-model>
 ```
 
 The default output map path containing the optimized centerline locates `/tmp/lanelet2_map.osm`.
diff --git a/planning/static_centerline_optimizer/config/common.param.yaml b/planning/static_centerline_generator/config/common.param.yaml
similarity index 100%
rename from planning/static_centerline_optimizer/config/common.param.yaml
rename to planning/static_centerline_generator/config/common.param.yaml
diff --git a/planning/static_centerline_optimizer/config/nearest_search.param.yaml b/planning/static_centerline_generator/config/nearest_search.param.yaml
similarity index 100%
rename from planning/static_centerline_optimizer/config/nearest_search.param.yaml
rename to planning/static_centerline_generator/config/nearest_search.param.yaml
diff --git a/planning/static_centerline_optimizer/config/static_centerline_optimizer.param.yaml b/planning/static_centerline_generator/config/static_centerline_generator.param.yaml
similarity index 100%
rename from planning/static_centerline_optimizer/config/static_centerline_optimizer.param.yaml
rename to planning/static_centerline_generator/config/static_centerline_generator.param.yaml
diff --git a/planning/static_centerline_optimizer/config/vehicle_info.param.yaml b/planning/static_centerline_generator/config/vehicle_info.param.yaml
similarity index 100%
rename from planning/static_centerline_optimizer/config/vehicle_info.param.yaml
rename to planning/static_centerline_generator/config/vehicle_info.param.yaml
diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp b/planning/static_centerline_generator/include/static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp
similarity index 71%
rename from planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp
rename to planning/static_centerline_generator/include/static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp
index b29f222b068cc..30b2e55c36bba 100644
--- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp
+++ b/planning/static_centerline_generator/include/static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp
@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
-#define STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
+#ifndef STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
+#define STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
 
 #include "rclcpp/rclcpp.hpp"
-#include "static_centerline_optimizer/type_alias.hpp"
+#include "static_centerline_generator/type_alias.hpp"
 
 #include <vector>
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
 std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node);
-}  // namespace static_centerline_optimizer
-#endif  // STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
+}  // namespace static_centerline_generator
+#endif  // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_
diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp b/planning/static_centerline_generator/include/static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp
similarity index 81%
rename from planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp
rename to planning/static_centerline_generator/include/static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp
index 8c7c1e69e9ce6..7e7cdea31e9f1 100644
--- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp
+++ b/planning/static_centerline_generator/include/static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
-#define STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
+#ifndef STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
+#define STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
 
 #include "rclcpp/rclcpp.hpp"
-#include "static_centerline_optimizer/type_alias.hpp"
+#include "static_centerline_generator/type_alias.hpp"
 
 #include <vector>
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
 class OptimizationTrajectoryBasedCenterline
 {
@@ -37,7 +37,7 @@ class OptimizationTrajectoryBasedCenterline
   rclcpp::Publisher<PathWithLaneId>::SharedPtr pub_raw_path_with_lane_id_{nullptr};
   rclcpp::Publisher<Path>::SharedPtr pub_raw_path_{nullptr};
 };
-}  // namespace static_centerline_optimizer
+}  // namespace static_centerline_generator
 // clang-format off
-#endif  // STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
+#endif  // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
 // clang-format on
diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp b/planning/static_centerline_generator/include/static_centerline_generator/static_centerline_generator_node.hpp
similarity index 83%
rename from planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp
rename to planning/static_centerline_generator/include/static_centerline_generator/static_centerline_generator_node.hpp
index 5d9530a469012..baf422bf0cf17 100644
--- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp
+++ b/planning/static_centerline_generator/include/static_centerline_generator/static_centerline_generator_node.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef STATIC_CENTERLINE_OPTIMIZER__STATIC_CENTERLINE_OPTIMIZER_NODE_HPP_
-#define STATIC_CENTERLINE_OPTIMIZER__STATIC_CENTERLINE_OPTIMIZER_NODE_HPP_
+#ifndef STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_
+#define STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_
 
 #include "rclcpp/rclcpp.hpp"
-#include "static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp"
-#include "static_centerline_optimizer/srv/load_map.hpp"
-#include "static_centerline_optimizer/srv/plan_path.hpp"
-#include "static_centerline_optimizer/srv/plan_route.hpp"
-#include "static_centerline_optimizer/type_alias.hpp"
+#include "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp"
+#include "static_centerline_generator/srv/load_map.hpp"
+#include "static_centerline_generator/srv/plan_path.hpp"
+#include "static_centerline_generator/srv/plan_route.hpp"
+#include "static_centerline_generator/type_alias.hpp"
 #include "vehicle_info_util/vehicle_info_util.hpp"
 
 #include <geography_utils/lanelet2_projector.hpp>
@@ -34,11 +34,11 @@
 #include <utility>
 #include <vector>
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
-using static_centerline_optimizer::srv::LoadMap;
-using static_centerline_optimizer::srv::PlanPath;
-using static_centerline_optimizer::srv::PlanRoute;
+using static_centerline_generator::srv::LoadMap;
+using static_centerline_generator::srv::PlanPath;
+using static_centerline_generator::srv::PlanRoute;
 
 struct CenterlineWithRoute
 {
@@ -115,5 +115,5 @@ class StaticCenterlineOptimizerNode : public rclcpp::Node
   // vehicle info
   vehicle_info_util::VehicleInfo vehicle_info_;
 };
-}  // namespace static_centerline_optimizer
-#endif  // STATIC_CENTERLINE_OPTIMIZER__STATIC_CENTERLINE_OPTIMIZER_NODE_HPP_
+}  // namespace static_centerline_generator
+#endif  // STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_
diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/type_alias.hpp b/planning/static_centerline_generator/include/static_centerline_generator/type_alias.hpp
similarity index 87%
rename from planning/static_centerline_optimizer/include/static_centerline_optimizer/type_alias.hpp
rename to planning/static_centerline_generator/include/static_centerline_generator/type_alias.hpp
index 1a700d36deaaf..2dcb9cbbd099f 100644
--- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/type_alias.hpp
+++ b/planning/static_centerline_generator/include/static_centerline_generator/type_alias.hpp
@@ -11,8 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef STATIC_CENTERLINE_OPTIMIZER__TYPE_ALIAS_HPP_
-#define STATIC_CENTERLINE_OPTIMIZER__TYPE_ALIAS_HPP_
+#ifndef STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_
+#define STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_
 
 #include "route_handler/route_handler.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
@@ -26,7 +26,7 @@
 #include "autoware_planning_msgs/msg/lanelet_route.hpp"
 #include "visualization_msgs/msg/marker_array.hpp"
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
 using autoware_auto_mapping_msgs::msg::HADMapBin;
 using autoware_auto_perception_msgs::msg::PredictedObjects;
@@ -41,6 +41,6 @@ using tier4_autoware_utils::LinearRing2d;
 using tier4_autoware_utils::LineString2d;
 using tier4_autoware_utils::Point2d;
 using visualization_msgs::msg::MarkerArray;
-}  // namespace static_centerline_optimizer
+}  // namespace static_centerline_generator
 
-#endif  // STATIC_CENTERLINE_OPTIMIZER__TYPE_ALIAS_HPP_
+#endif  // STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_
diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/utils.hpp b/planning/static_centerline_generator/include/static_centerline_generator/utils.hpp
similarity index 86%
rename from planning/static_centerline_optimizer/include/static_centerline_optimizer/utils.hpp
rename to planning/static_centerline_generator/include/static_centerline_generator/utils.hpp
index 04f2268aa972f..c8cf8f8b90590 100644
--- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/utils.hpp
+++ b/planning/static_centerline_generator/include/static_centerline_generator/utils.hpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef STATIC_CENTERLINE_OPTIMIZER__UTILS_HPP_
-#define STATIC_CENTERLINE_OPTIMIZER__UTILS_HPP_
+#ifndef STATIC_CENTERLINE_GENERATOR__UTILS_HPP_
+#define STATIC_CENTERLINE_GENERATOR__UTILS_HPP_
 
 #include "route_handler/route_handler.hpp"
-#include "static_centerline_optimizer/type_alias.hpp"
+#include "static_centerline_generator/type_alias.hpp"
 
 #include <rclcpp/time.hpp>
 
@@ -24,7 +24,7 @@
 #include <string>
 #include <vector>
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
 namespace utils
 {
@@ -53,6 +53,6 @@ MarkerArray create_distance_text_marker(
   const geometry_msgs::msg::Pose & pose, const double dist,
   const std::array<double, 3> & marker_color, const rclcpp::Time & now, const size_t idx);
 }  // namespace utils
-}  // namespace static_centerline_optimizer
+}  // namespace static_centerline_generator
 
-#endif  // STATIC_CENTERLINE_OPTIMIZER__UTILS_HPP_
+#endif  // STATIC_CENTERLINE_GENERATOR__UTILS_HPP_
diff --git a/planning/static_centerline_optimizer/launch/run_planning_server.launch.xml b/planning/static_centerline_generator/launch/run_planning_server.launch.xml
similarity index 54%
rename from planning/static_centerline_optimizer/launch/run_planning_server.launch.xml
rename to planning/static_centerline_generator/launch/run_planning_server.launch.xml
index 3a8b88a021dc0..1493078317458 100644
--- a/planning/static_centerline_optimizer/launch/run_planning_server.launch.xml
+++ b/planning/static_centerline_generator/launch/run_planning_server.launch.xml
@@ -2,11 +2,11 @@
   <!-- mandatory arguments for planning-->
   <arg name="vehicle_model"/>
 
-  <include file="$(find-pkg-share static_centerline_optimizer)/launch/static_centerline_optimizer.launch.xml">
+  <include file="$(find-pkg-share static_centerline_generator)/launch/static_centerline_generator.launch.xml">
     <arg name="vehicle_model" value="$(var vehicle_model)"/>
     <arg name="run_background" value="true"/>
   </include>
 
   <!-- local server to connect path optimizer and cloud software -->
-  <node pkg="static_centerline_optimizer" exec="app.py" name="static_centerline_optimizer_http_server" output="screen"/>
+  <node pkg="static_centerline_generator" exec="app.py" name="static_centerline_generator_http_server" output="screen"/>
 </launch>
diff --git a/planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml b/planning/static_centerline_generator/launch/static_centerline_generator.launch.xml
similarity index 93%
rename from planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml
rename to planning/static_centerline_generator/launch/static_centerline_generator.launch.xml
index ed137367f3ba4..ae71b0ae6e925 100644
--- a/planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml
+++ b/planning/static_centerline_generator/launch/static_centerline_generator.launch.xml
@@ -55,7 +55,7 @@
   </node>
 
   <!-- optimize path -->
-  <node pkg="static_centerline_optimizer" exec="main" name="static_centerline_optimizer">
+  <node pkg="static_centerline_generator" exec="main" name="static_centerline_generator">
     <remap from="lanelet2_map_topic" to="$(var lanelet2_map_topic)"/>
     <remap from="input_centerline" to="~/input_centerline"/>
     <remap from="output_whole_centerline" to="~/output_whole_centerline"/>
@@ -79,11 +79,11 @@
     <param from="$(var obstacle_avoidance_planner_param)"/>
     <param from="$(var mission_planner_param)"/>
     <!-- node param -->
-    <param from="$(find-pkg-share static_centerline_optimizer)/config/static_centerline_optimizer.param.yaml"/>
+    <param from="$(find-pkg-share static_centerline_generator)/config/static_centerline_generator.param.yaml"/>
     <param name="centerline_source" value="$(var centerline_source)"/>
     <param name="bag_filename" value="$(var bag_filename)"/>
   </node>
 
   <!-- rviz -->
-  <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share static_centerline_optimizer)/rviz/static_centerline_optimizer.rviz" if="$(var rviz)"/>
+  <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(find-pkg-share static_centerline_generator)/rviz/static_centerline_generator.rviz" if="$(var rviz)"/>
 </launch>
diff --git a/planning/static_centerline_optimizer/media/rviz.png b/planning/static_centerline_generator/media/rviz.png
similarity index 100%
rename from planning/static_centerline_optimizer/media/rviz.png
rename to planning/static_centerline_generator/media/rviz.png
diff --git a/planning/static_centerline_optimizer/media/unsafe_footprints.png b/planning/static_centerline_generator/media/unsafe_footprints.png
similarity index 100%
rename from planning/static_centerline_optimizer/media/unsafe_footprints.png
rename to planning/static_centerline_generator/media/unsafe_footprints.png
diff --git a/planning/static_centerline_optimizer/msg/PointsWithLaneId.msg b/planning/static_centerline_generator/msg/PointsWithLaneId.msg
similarity index 100%
rename from planning/static_centerline_optimizer/msg/PointsWithLaneId.msg
rename to planning/static_centerline_generator/msg/PointsWithLaneId.msg
diff --git a/planning/static_centerline_optimizer/package.xml b/planning/static_centerline_generator/package.xml
similarity index 94%
rename from planning/static_centerline_optimizer/package.xml
rename to planning/static_centerline_generator/package.xml
index eef133581622f..6573f6e439c43 100644
--- a/planning/static_centerline_optimizer/package.xml
+++ b/planning/static_centerline_generator/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>static_centerline_optimizer</name>
+  <name>static_centerline_generator</name>
   <version>0.1.0</version>
-  <description>The static_centerline_optimizer package</description>
+  <description>The static_centerline_generator package</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
   <license>Apache License 2.0</license>
diff --git a/planning/static_centerline_optimizer/rviz/static_centerline_optimizer.rviz b/planning/static_centerline_generator/rviz/static_centerline_generator.rviz
similarity index 98%
rename from planning/static_centerline_optimizer/rviz/static_centerline_optimizer.rviz
rename to planning/static_centerline_generator/rviz/static_centerline_generator.rviz
index 1e7573d561ba1..62b4c9b75ec87 100644
--- a/planning/static_centerline_optimizer/rviz/static_centerline_optimizer.rviz
+++ b/planning/static_centerline_generator/rviz/static_centerline_generator.rviz
@@ -130,7 +130,7 @@ Visualization Manager:
         Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /static_centerline_optimizer/input_centerline
+        Value: /static_centerline_generator/input_centerline
       Value: true
       View Drivable Area:
         Alpha: 0.9990000128746033
@@ -179,7 +179,7 @@ Visualization Manager:
         Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /static_centerline_optimizer/output_centerline
+        Value: /static_centerline_generator/output_centerline
       Value: true
       View Footprint:
         Alpha: 1
@@ -222,7 +222,7 @@ Visualization Manager:
             Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /static_centerline_optimizer/debug/raw_centerline
+            Value: /static_centerline_generator/debug/raw_centerline
           Value: false
           View Drivable Area:
             Alpha: 0.9990000128746033
@@ -268,7 +268,7 @@ Visualization Manager:
             Durability Policy: Transient Local
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /static_centerline_optimizer/debug/unsafe_footprints
+            Value: /static_centerline_generator/debug/unsafe_footprints
           Value: true
       Enabled: false
       Name: debug
diff --git a/planning/static_centerline_optimizer/scripts/app.py b/planning/static_centerline_generator/scripts/app.py
similarity index 92%
rename from planning/static_centerline_optimizer/scripts/app.py
rename to planning/static_centerline_generator/scripts/app.py
index 90610755e828a..c1cb0473da040 100755
--- a/planning/static_centerline_optimizer/scripts/app.py
+++ b/planning/static_centerline_generator/scripts/app.py
@@ -23,12 +23,12 @@
 from flask_cors import CORS
 import rclpy
 from rclpy.node import Node
-from static_centerline_optimizer.srv import LoadMap
-from static_centerline_optimizer.srv import PlanPath
-from static_centerline_optimizer.srv import PlanRoute
+from static_centerline_generator.srv import LoadMap
+from static_centerline_generator.srv import PlanPath
+from static_centerline_generator.srv import PlanRoute
 
 rclpy.init()
-node = Node("static_centerline_optimizer_http_server")
+node = Node("static_centerline_generator_http_server")
 
 app = Flask(__name__)
 CORS(app)
@@ -51,7 +51,7 @@ def get_map():
     map_id = map_uuid
 
     # create client
-    cli = create_client(LoadMap, "/planning/static_centerline_optimizer/load_map")
+    cli = create_client(LoadMap, "/planning/static_centerline_generator/load_map")
 
     # request map loading
     req = LoadMap.Request(map=data["map"])
@@ -85,7 +85,7 @@ def post_planned_route():
         print("map_id is not correct.")
 
     # create client
-    cli = create_client(PlanRoute, "/planning/static_centerline_optimizer/plan_route")
+    cli = create_client(PlanRoute, "/planning/static_centerline_generator/plan_route")
 
     # request route planning
     req = PlanRoute.Request(
@@ -123,7 +123,7 @@ def post_planned_path():
         print("map_id is not correct.")
 
     # create client
-    cli = create_client(PlanPath, "/planning/static_centerline_optimizer/plan_path")
+    cli = create_client(PlanPath, "/planning/static_centerline_generator/plan_path")
 
     # request path planning
     route_lane_ids = [eval(i) for i in request.args.getlist("route[]")]
diff --git a/planning/static_centerline_optimizer/scripts/centerline_updater_helper.py b/planning/static_centerline_generator/scripts/centerline_updater_helper.py
similarity index 100%
rename from planning/static_centerline_optimizer/scripts/centerline_updater_helper.py
rename to planning/static_centerline_generator/scripts/centerline_updater_helper.py
diff --git a/planning/static_centerline_generator/scripts/tmp/bag_ego_trajectory_based_centerline.sh b/planning/static_centerline_generator/scripts/tmp/bag_ego_trajectory_based_centerline.sh
new file mode 100755
index 0000000000000..30ed667dd3732
--- /dev/null
+++ b/planning/static_centerline_generator/scripts/tmp/bag_ego_trajectory_based_centerline.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+
+ros2 launch static_centerline_generator static_centerline_generator.launch.xml centerline_source:="bag_ego_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" bag_filename:="$(ros2 pkg prefix static_centerline_generator --share)/test/data/bag_ego_trajectory.db3" vehicle_model:=lexus
diff --git a/planning/static_centerline_optimizer/scripts/tmp/optimization_trajectory_based_centerline.sh b/planning/static_centerline_generator/scripts/tmp/optimization_trajectory_based_centerline.sh
similarity index 57%
rename from planning/static_centerline_optimizer/scripts/tmp/optimization_trajectory_based_centerline.sh
rename to planning/static_centerline_generator/scripts/tmp/optimization_trajectory_based_centerline.sh
index 3967c7a4ca523..809bbb46a179e 100755
--- a/planning/static_centerline_optimizer/scripts/tmp/optimization_trajectory_based_centerline.sh
+++ b/planning/static_centerline_generator/scripts/tmp/optimization_trajectory_based_centerline.sh
@@ -1,3 +1,3 @@
 #!/bin/bash
 
-ros2 launch static_centerline_optimizer static_centerline_optimizer.launch.xml centerline_source:="optimization_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" start_lanelet_id:=125 end_lanelet_id:=132 vehicle_model:=lexus
+ros2 launch static_centerline_generator static_centerline_generator.launch.xml centerline_source:="optimization_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" start_lanelet_id:=125 end_lanelet_id:=132 vehicle_model:=lexus
diff --git a/planning/static_centerline_optimizer/src/centerline_source/bag_ego_trajectory_based_centerline.cpp b/planning/static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp
similarity index 93%
rename from planning/static_centerline_optimizer/src/centerline_source/bag_ego_trajectory_based_centerline.cpp
rename to planning/static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp
index 571e98cdbe1c3..4e541b1aff527 100644
--- a/planning/static_centerline_optimizer/src/centerline_source/bag_ego_trajectory_based_centerline.cpp
+++ b/planning/static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp"
+#include "static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp"
 
 #include "rclcpp/serialization.hpp"
 #include "rosbag2_cpp/reader.hpp"
-#include "static_centerline_optimizer/static_centerline_optimizer_node.hpp"
+#include "static_centerline_generator/static_centerline_generator_node.hpp"
 
 #include <nav_msgs/msg/odometry.hpp>
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
 std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node)
 {
@@ -79,4 +79,4 @@ std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node)
 
   return centerline_traj_points;
 }
-}  // namespace static_centerline_optimizer
+}  // namespace static_centerline_generator
diff --git a/planning/static_centerline_optimizer/src/centerline_source/optimization_trajectory_based_centerline.cpp b/planning/static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp
similarity index 96%
rename from planning/static_centerline_optimizer/src/centerline_source/optimization_trajectory_based_centerline.cpp
rename to planning/static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp
index 20b2027f39d54..7980ae4e8d2d7 100644
--- a/planning/static_centerline_optimizer/src/centerline_source/optimization_trajectory_based_centerline.cpp
+++ b/planning/static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp
@@ -12,17 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp"
+#include "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp"
 
 #include "motion_utils/resample/resample.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
 #include "obstacle_avoidance_planner/node.hpp"
 #include "path_smoother/elastic_band_smoother.hpp"
-#include "static_centerline_optimizer/static_centerline_optimizer_node.hpp"
-#include "static_centerline_optimizer/utils.hpp"
+#include "static_centerline_generator/static_centerline_generator_node.hpp"
+#include "static_centerline_generator/utils.hpp"
 #include "tier4_autoware_utils/ros/parameter.hpp"
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
 namespace
 {
@@ -180,4 +180,4 @@ std::vector<TrajectoryPoint> OptimizationTrajectoryBasedCenterline::optimize_tra
 
   return whole_optimized_traj_points;
 }
-}  // namespace static_centerline_optimizer
+}  // namespace static_centerline_generator
diff --git a/planning/static_centerline_optimizer/src/main.cpp b/planning/static_centerline_generator/src/main.cpp
similarity index 89%
rename from planning/static_centerline_optimizer/src/main.cpp
rename to planning/static_centerline_generator/src/main.cpp
index 96c139fd7ff93..c179af0eb9127 100644
--- a/planning/static_centerline_optimizer/src/main.cpp
+++ b/planning/static_centerline_generator/src/main.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "static_centerline_optimizer/static_centerline_optimizer_node.hpp"
+#include "static_centerline_generator/static_centerline_generator_node.hpp"
 
 int main(int argc, char * argv[])
 {
@@ -21,7 +21,7 @@ int main(int argc, char * argv[])
   // initialize node
   rclcpp::NodeOptions node_options;
   auto node =
-    std::make_shared<static_centerline_optimizer::StaticCenterlineOptimizerNode>(node_options);
+    std::make_shared<static_centerline_generator::StaticCenterlineOptimizerNode>(node_options);
 
   // get ros parameter
   const bool run_background = node->declare_parameter<bool>("run_background");
diff --git a/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp b/planning/static_centerline_generator/src/static_centerline_generator_node.cpp
similarity index 97%
rename from planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp
rename to planning/static_centerline_generator/src/static_centerline_generator_node.cpp
index 073d30f5b5a39..74170433dc160 100644
--- a/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp
+++ b/planning/static_centerline_generator/src/static_centerline_generator_node.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "static_centerline_optimizer/static_centerline_optimizer_node.hpp"
+#include "static_centerline_generator/static_centerline_generator_node.hpp"
 
 #include "lanelet2_extension/utility/message_conversion.hpp"
 #include "lanelet2_extension/utility/query.hpp"
@@ -21,10 +21,10 @@
 #include "map_projection_loader/load_info_from_lanelet2_map.hpp"
 #include "motion_utils/resample/resample.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
-#include "static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp"
-#include "static_centerline_optimizer/msg/points_with_lane_id.hpp"
-#include "static_centerline_optimizer/type_alias.hpp"
-#include "static_centerline_optimizer/utils.hpp"
+#include "static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp"
+#include "static_centerline_generator/msg/points_with_lane_id.hpp"
+#include "static_centerline_generator/type_alias.hpp"
+#include "static_centerline_generator/utils.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 #include "tier4_autoware_utils/ros/parameter.hpp"
 
@@ -53,7 +53,7 @@
 #include <string>
 #include <vector>
 
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
 namespace
 {
@@ -167,7 +167,7 @@ std::vector<TrajectoryPoint> resample_trajectory_points(
 
 StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode(
   const rclcpp::NodeOptions & node_options)
-: Node("static_centerline_optimizer", node_options)
+: Node("static_centerline_generator", node_options)
 {
   // publishers
   pub_map_bin_ =
@@ -215,19 +215,19 @@ StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode(
   // services
   callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
   srv_load_map_ = create_service<LoadMap>(
-    "/planning/static_centerline_optimizer/load_map",
+    "/planning/static_centerline_generator/load_map",
     std::bind(
       &StaticCenterlineOptimizerNode::on_load_map, this, std::placeholders::_1,
       std::placeholders::_2),
     rmw_qos_profile_services_default, callback_group_);
   srv_plan_route_ = create_service<PlanRoute>(
-    "/planning/static_centerline_optimizer/plan_route",
+    "/planning/static_centerline_generator/plan_route",
     std::bind(
       &StaticCenterlineOptimizerNode::on_plan_route, this, std::placeholders::_1,
       std::placeholders::_2),
     rmw_qos_profile_services_default, callback_group_);
   srv_plan_path_ = create_service<PlanPath>(
-    "/planning/static_centerline_optimizer/plan_path",
+    "/planning/static_centerline_generator/plan_path",
     std::bind(
       &StaticCenterlineOptimizerNode::on_plan_path, this, std::placeholders::_1,
       std::placeholders::_2),
@@ -245,7 +245,7 @@ StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode(
       return CenterlineSource::BagEgoTrajectoryBase;
     }
     throw std::logic_error(
-      "The centerline source is not supported in static_centerline_optimizer.");
+      "The centerline source is not supported in static_centerline_generator.");
   }();
 }
 
@@ -317,7 +317,7 @@ CenterlineWithRoute StaticCenterlineOptimizerNode::generate_centerline_with_rout
       return CenterlineWithRoute{bag_centerline, route_lane_ids};
     }
     throw std::logic_error(
-      "The centerline source is not supported in static_centerline_optimizer.");
+      "The centerline source is not supported in static_centerline_generator.");
   }();
 
   // resample
@@ -533,7 +533,7 @@ void StaticCenterlineOptimizerNode::on_plan_path(
 
     if (!current_lanelet_points.empty()) {
       // register points with lane_id
-      static_centerline_optimizer::msg::PointsWithLaneId points_with_lane_id;
+      static_centerline_generator::msg::PointsWithLaneId points_with_lane_id;
       points_with_lane_id.lane_id = lanelet.id();
       points_with_lane_id.points = current_lanelet_points;
       response->points_with_lane_ids.push_back(points_with_lane_id);
@@ -636,4 +636,4 @@ void StaticCenterlineOptimizerNode::save_map(
   lanelet::write(lanelet2_output_file_path, *original_map_ptr_, *map_projector_);
   RCLCPP_INFO(get_logger(), "Saved map.");
 }
-}  // namespace static_centerline_optimizer
+}  // namespace static_centerline_generator
diff --git a/planning/static_centerline_optimizer/src/utils.cpp b/planning/static_centerline_generator/src/utils.cpp
similarity index 98%
rename from planning/static_centerline_optimizer/src/utils.cpp
rename to planning/static_centerline_generator/src/utils.cpp
index 9448677d1bbae..ddfd3e11036ce 100644
--- a/planning/static_centerline_optimizer/src/utils.cpp
+++ b/planning/static_centerline_generator/src/utils.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "static_centerline_optimizer/utils.hpp"
+#include "static_centerline_generator/utils.hpp"
 
 #include "behavior_path_planner_common/data_manager.hpp"
 #include "behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
@@ -21,7 +21,7 @@
 
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_core/geometry/Lanelet.h>
-namespace static_centerline_optimizer
+namespace static_centerline_generator
 {
 namespace
 {
@@ -228,4 +228,4 @@ MarkerArray create_distance_text_marker(
   return marker_array;
 }
 }  // namespace utils
-}  // namespace static_centerline_optimizer
+}  // namespace static_centerline_generator
diff --git a/planning/static_centerline_optimizer/srv/LoadMap.srv b/planning/static_centerline_generator/srv/LoadMap.srv
similarity index 100%
rename from planning/static_centerline_optimizer/srv/LoadMap.srv
rename to planning/static_centerline_generator/srv/LoadMap.srv
diff --git a/planning/static_centerline_optimizer/srv/PlanPath.srv b/planning/static_centerline_generator/srv/PlanPath.srv
similarity index 55%
rename from planning/static_centerline_optimizer/srv/PlanPath.srv
rename to planning/static_centerline_generator/srv/PlanPath.srv
index 644a4ea013557..7d823b4eccbf9 100644
--- a/planning/static_centerline_optimizer/srv/PlanPath.srv
+++ b/planning/static_centerline_generator/srv/PlanPath.srv
@@ -1,6 +1,6 @@
 uint32 map_id
 int64[] route
 ---
-static_centerline_optimizer/PointsWithLaneId[] points_with_lane_ids
+static_centerline_generator/PointsWithLaneId[] points_with_lane_ids
 string message
 int64[] unconnected_lane_ids
diff --git a/planning/static_centerline_optimizer/srv/PlanRoute.srv b/planning/static_centerline_generator/srv/PlanRoute.srv
similarity index 100%
rename from planning/static_centerline_optimizer/srv/PlanRoute.srv
rename to planning/static_centerline_generator/srv/PlanRoute.srv
diff --git a/planning/static_centerline_optimizer/test/data/bag_ego_trajectory.db3 b/planning/static_centerline_generator/test/data/bag_ego_trajectory.db3
similarity index 100%
rename from planning/static_centerline_optimizer/test/data/bag_ego_trajectory.db3
rename to planning/static_centerline_generator/test/data/bag_ego_trajectory.db3
diff --git a/planning/static_centerline_optimizer/test/data/lanelet2_map.osm b/planning/static_centerline_generator/test/data/lanelet2_map.osm
similarity index 100%
rename from planning/static_centerline_optimizer/test/data/lanelet2_map.osm
rename to planning/static_centerline_generator/test/data/lanelet2_map.osm
diff --git a/planning/static_centerline_optimizer/test/test_static_centerline_optimizer.test.py b/planning/static_centerline_generator/test/test_static_centerline_generator.test.py
similarity index 84%
rename from planning/static_centerline_optimizer/test/test_static_centerline_optimizer.test.py
rename to planning/static_centerline_generator/test/test_static_centerline_generator.test.py
index 9f0a5df7f3fcc..29ee49a11e3b3 100644
--- a/planning/static_centerline_optimizer/test/test_static_centerline_optimizer.test.py
+++ b/planning/static_centerline_generator/test/test_static_centerline_generator.test.py
@@ -28,11 +28,11 @@
 @pytest.mark.launch_test
 def generate_test_description():
     lanelet2_map_path = os.path.join(
-        get_package_share_directory("static_centerline_optimizer"), "test/data/lanelet2_map.osm"
+        get_package_share_directory("static_centerline_generator"), "test/data/lanelet2_map.osm"
     )
 
-    static_centerline_optimizer_node = Node(
-        package="static_centerline_optimizer",
+    static_centerline_generator_node = Node(
+        package="static_centerline_generator",
         executable="main",
         output="screen",
         parameters=[
@@ -50,8 +50,8 @@ def generate_test_description():
                 "mission_planner.param.yaml",
             ),
             os.path.join(
-                get_package_share_directory("static_centerline_optimizer"),
-                "config/static_centerline_optimizer.param.yaml",
+                get_package_share_directory("static_centerline_generator"),
+                "config/static_centerline_generator.param.yaml",
             ),
             os.path.join(
                 get_package_share_directory("behavior_path_planner"),
@@ -74,15 +74,15 @@ def generate_test_description():
                 "config/lanelet2_map_loader.param.yaml",
             ),
             os.path.join(
-                get_package_share_directory("static_centerline_optimizer"),
+                get_package_share_directory("static_centerline_generator"),
                 "config/common.param.yaml",
             ),
             os.path.join(
-                get_package_share_directory("static_centerline_optimizer"),
+                get_package_share_directory("static_centerline_generator"),
                 "config/nearest_search.param.yaml",
             ),
             os.path.join(
-                get_package_share_directory("static_centerline_optimizer"),
+                get_package_share_directory("static_centerline_generator"),
                 "config/vehicle_info.param.yaml",
             ),
         ],
@@ -93,8 +93,8 @@ def generate_test_description():
     return (
         LaunchDescription(
             [
-                static_centerline_optimizer_node,
-                # Start test after 1s - gives time for the static_centerline_optimizer to finish initialization
+                static_centerline_generator_node,
+                # Start test after 1s - gives time for the static_centerline_generator to finish initialization
                 launch.actions.TimerAction(
                     period=1.0, actions=[launch_testing.actions.ReadyToTest()]
                 ),
diff --git a/planning/static_centerline_optimizer/scripts/tmp/bag_ego_trajectory_based_centerline.sh b/planning/static_centerline_optimizer/scripts/tmp/bag_ego_trajectory_based_centerline.sh
deleted file mode 100755
index 8164b521553c8..0000000000000
--- a/planning/static_centerline_optimizer/scripts/tmp/bag_ego_trajectory_based_centerline.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-#!/bin/bash
-
-ros2 launch static_centerline_optimizer static_centerline_optimizer.launch.xml centerline_source:="bag_ego_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" bag_filename:="$(ros2 pkg prefix static_centerline_optimizer --share)/test/data/bag_ego_trajectory.db3" vehicle_model:=lexus